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not set) [pipeline.py: 640] +05/18 15:42:53 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:42:53 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:42:53 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 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'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 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': 40079, + '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 15:42:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:42:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:42:53 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:42:53 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:42:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:42:57 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:42:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:42:57 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:42:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044347m [env.py: 870] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:42:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15590039 -1.29597953 0.04434696] yaw=149.5deg [env.py: 1019] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.34493295 -0.34055506 0.04434696] yaw=-126.5deg [env.py: 1019] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15497181 -0.84645052 0.04434696] yaw=-187.2deg [env.py: 1019] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=102.2ms, total=114.9ms [env.py: 1075] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.296, 0.044) [env.py: 1079] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.5 deg [env.py: 1082] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.288m [env.py: 1086] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:42:57 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:21 INFO: [Worker 0] Warmed up parallel IK solver in 24.111s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.925s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:43:23 ERROR: [Worker 0] Worker 0 house 2 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:43:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:43:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000767m [env.py: 870] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 135.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 1.73251788e-01 -1.19185885e+00 -7.66726765e-04] yaw=179.1deg [env.py: 1019] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.2ms [env.py: 1075] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.192, -0.001) [env.py: 1079] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg [env.py: 1082] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.278m [env.py: 1086] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:25 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.907s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:43:27 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:43:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:43:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042155m [env.py: 870] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18907513 -0.99437263 -0.04215467] yaw=166.6deg [env.py: 1019] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11545826 -1.11565503 -0.04215467] yaw=181.8deg [env.py: 1019] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.28815912 -0.54225448 -0.04215467] yaw=-169.7deg [env.py: 1019] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms [env.py: 1075] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.189, -0.994, -0.042) [env.py: 1079] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg [env.py: 1082] +05/18 15:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:29 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 97.229[deg] [grasp_sample.py: 596] +05/18 15:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:43:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:43:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:30 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 15:43:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:43:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:39 INFO: [Worker 0] Worker 0 house 2 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:44:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:44:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:44:53 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/18 15:45:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:45:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:45:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.81s (batch: 2.71s, save: 7.10s) [pipeline.py: 300] +05/18 15:45:04 INFO: [Worker 0] [PROFILE] Episode 2 house 2 success=True episode_total=4.94s: + episode_total: mean=42.53s, total=127.60s, count=3, min=2350.2ms, max=94829.3ms + sensor_polling: mean=211.4ms, total=63.19s, count=299, min=196.6ms, max=338.4ms + save_trajectories: mean=7.10s, total=7.10s, count=1, min=7098.6ms, max=7098.6ms + task_sampling: mean=1.65s, total=4.94s, count=3, min=265.2ms, max=4336.9ms + physics_step: mean=15.1ms, total=4.50s, count=299, min=11.4ms, max=22.4ms + scene_load: mean=4.01s, total=4.01s, count=1, min=4010.9ms, max=4010.9ms + save_batch_prep: mean=2.71s, total=2.71s, count=1, min=2706.5ms, max=2706.5ms + scene_env_create: mean=2.61s, total=2.61s, count=1, min=2608.2ms, max=2608.2ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1246.8ms, max=1246.8ms + task_specific_sample: mean=306.0ms, total=918.1ms, count=3, min=263.2ms, max=331.1ms + compile_mujoco: mean=791.9ms, total=791.9ms, count=1, min=791.9ms, max=791.9ms + compile_xml_load: mean=384.4ms, total=384.4ms, count=1, min=384.4ms, max=384.4ms + scene_asset_install: mean=92.1ms, total=92.1ms, count=1, min=92.1ms, max=92.1ms + scene_init: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms + asset_install_objects: mean=61.4ms, total=61.4ms, count=1, min=61.4ms, max=61.4ms + compile_aux_objects: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + compile_aux_policy_objects: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + asset_install_grasps: mean=27.6ms, total=27.6ms, count=1, min=27.6ms, max=27.6ms + compile_robot_add: mean=25.8ms, total=25.8ms, count=1, min=25.8ms, max=25.8ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + scene_randomize: mean=915.3us, total=2.7ms, count=3, min=0.8ms, max=1.0ms + mj_forward_sync: mean=324.7us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:45:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:45:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:45:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:45:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099841m [env.py: 870] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00311961 -0.7389706 0.09984093] yaw=-167.7deg [env.py: 1019] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02227276 -0.91384552 0.09984093] yaw=-177.9deg [env.py: 1019] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03328109 -1.10141294 0.09984093] yaw=171.9deg [env.py: 1019] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.9ms, total=86.9ms [env.py: 1075] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -0.739, 0.100) [env.py: 1079] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg [env.py: 1082] +05/18 15:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:05 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.190s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 70.448[deg] [grasp_sample.py: 596] +05/18 15:45:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:18 INFO: [Worker 0] Worker 0 house 2 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:46:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:46:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:46:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:46:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:46:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:46:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.51s (batch: 2.73s, save: 6.78s) [pipeline.py: 300] +05/18 15:46:41 INFO: [Worker 0] [PROFILE] Episode 3 house 2 success=True episode_total=0.27s: + episode_total: mean=96.43s, total=96.43s, count=1, min=96426.4ms, max=96426.4ms + sensor_polling: mean=215.6ms, total=64.69s, count=300, min=200.3ms, max=426.3ms + save_trajectories: mean=6.78s, total=6.78s, count=1, min=6780.3ms, max=6780.3ms + physics_step: mean=13.9ms, total=4.16s, count=300, min=10.9ms, max=16.3ms + save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2730.2ms, max=2730.2ms + task_sampling: mean=271.3ms, total=271.3ms, count=1, min=271.3ms, max=271.3ms + task_specific_sample: mean=268.3ms, total=268.3ms, count=1, min=268.3ms, max=268.3ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=337.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + 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 15:46:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:43 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 15:46:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000361m [env.py: 870] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-2.08486042e-01 -1.33129479e+00 -3.61413130e-04] yaw=148.7deg [env.py: 1019] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 1.37097226e-01 -1.20689946e+00 -3.61413130e-04] yaw=170.2deg [env.py: 1019] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-2.96069866e-01 -4.91200561e-01 -3.61413130e-04] yaw=-164.2deg [env.py: 1019] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.1ms, total=71.2ms [env.py: 1075] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.208, -1.331, -0.000) [env.py: 1079] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.7 deg [env.py: 1082] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:43 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:46:44 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.579[m] 75.993[deg] [grasp_sample.py: 596] +05/18 15:46:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:46:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:46:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:47:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:47:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:47:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:47:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:58 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.193s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.072[m] 8.896[deg] [grasp_sample.py: 596] +05/18 15:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:10 INFO: [Worker 0] Worker 0 house 2 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:48:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:48:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:48:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:48:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:48:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:48:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.82s (batch: 2.80s, save: 7.02s) [pipeline.py: 300] +05/18 15:48:35 INFO: [Worker 0] [PROFILE] Episode 4 house 2 success=True episode_total=0.26s: + episode_total: mean=111.95s, total=111.95s, count=1, min=111954.7ms, max=111954.7ms + sensor_polling: mean=213.9ms, total=64.16s, count=300, min=194.4ms, max=351.1ms + save_trajectories: mean=7.02s, total=7.02s, count=1, min=7015.3ms, max=7015.3ms + physics_step: mean=13.7ms, total=4.12s, count=300, min=10.1ms, max=20.3ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2803.5ms, max=2803.5ms + task_sampling: mean=255.6ms, total=255.6ms, count=1, min=255.6ms, max=255.6ms + task_specific_sample: mean=253.1ms, total=253.1ms, count=1, min=253.1ms, max=253.1ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=337.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099733m [env.py: 870] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03229184 -0.39943355 -0.09973344] yaw=-161.4deg [env.py: 1019] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.53442524 -0.13705805 -0.09973344] yaw=-126.7deg [env.py: 1019] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.06070133 -0.56872394 -0.09973344] yaw=-166.7deg [env.py: 1019] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.7ms, total=138.7ms [env.py: 1075] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -0.399, -0.100) [env.py: 1079] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg [env.py: 1082] +05/18 15:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.163m [env.py: 1086] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:37 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:37 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 15:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.895s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:48:39 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:48:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036047m [env.py: 870] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.36583178 0.11687632 0.03604657] yaw=-146.9deg [env.py: 1019] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.5ms [env.py: 1075] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.366, 0.117, 0.036) [env.py: 1079] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg [env.py: 1082] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.253m [env.py: 1086] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:40 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.959s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:48:43 ERROR: [Worker 0] Worker 0 house 2 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:48:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:44 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 15:48:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047960m [env.py: 870] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26352932 -0.14502561 0.04796002] yaw=-153.0deg [env.py: 1019] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.09223337 -1.4177862 0.04796002] yaw=125.0deg [env.py: 1019] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.19686367 -0.44656845 0.04796002] yaw=-150.7deg [env.py: 1019] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.4ms, total=114.5ms [env.py: 1075] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.264, -0.145, 0.048) [env.py: 1079] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg [env.py: 1082] +05/18 15:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.119m [env.py: 1086] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:44 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:44 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 15:48:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.901s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:48:46 ERROR: [Worker 0] Worker 0 house 2 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068045m [env.py: 870] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20176238 -0.42087194 -0.06804497] yaw=-147.6deg [env.py: 1019] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.43447966 0.02058312 -0.06804497] yaw=-98.7deg [env.py: 1019] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.11374638 -0.2249536 -0.06804497] yaw=-154.4deg [env.py: 1019] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.7ms, total=123.7ms [env.py: 1075] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.202, -0.421, -0.068) [env.py: 1079] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg [env.py: 1082] +05/18 15:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:48 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.959s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:50 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.674[m] 85.690[deg] [grasp_sample.py: 596] +05/18 15:48:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:49:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:00 INFO: [Worker 0] Worker 0 house 2 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:50:14 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:50:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:50:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.98s (batch: 3.01s, save: 6.97s) [pipeline.py: 300] +05/18 15:50:25 INFO: [Worker 0] [PROFILE] Episode 8 house 2 success=True episode_total=1.22s: + episode_total: mean=25.99s, total=103.97s, count=4, min=2271.2ms, max=97005.9ms + sensor_polling: mean=213.0ms, total=63.91s, count=300, min=188.8ms, max=384.2ms + save_trajectories: mean=6.97s, total=6.97s, count=1, min=6967.5ms, max=6967.5ms + physics_step: mean=14.4ms, total=4.31s, count=300, min=11.5ms, max=20.2ms + save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3012.7ms, max=3012.7ms + task_sampling: mean=305.5ms, total=1.22s, count=4, min=283.4ms, max=331.8ms + task_specific_sample: mean=303.3ms, total=1.21s, count=4, min=281.5ms, max=329.3ms + scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=0.8ms, max=1.5ms + mj_forward_sync: mean=333.7us, total=1.3ms, count=4, min=0.3ms, max=0.4ms + policy_setup: mean=18.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.086m, effective arm-mount z=0.774m (base_body_z=-0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085823m [env.py: 870] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21793325 -0.96213696 -0.08582271] yaw=174.9deg [env.py: 1019] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04260466 -0.7796771 -0.08582271] yaw=-179.1deg [env.py: 1019] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.23503732 -0.53439142 -0.08582271] yaw=-169.9deg [env.py: 1019] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms [env.py: 1075] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -0.962, -0.086) [env.py: 1079] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg [env.py: 1082] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.293m [env.py: 1086] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:27 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:27 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 15:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.884s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:29 ERROR: [Worker 0] Worker 0 house 2 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:30 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 15:50:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012807m [env.py: 870] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01133691 -1.36135264 -0.01280651] yaw=137.7deg [env.py: 1019] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04239777 -0.37845479 -0.01280651] yaw=-146.6deg [env.py: 1019] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02714762 -0.91111759 -0.01280651] yaw=-169.3deg [env.py: 1019] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms [env.py: 1075] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -1.361, -0.013) [env.py: 1079] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.7 deg [env.py: 1082] +05/18 15:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.173m [env.py: 1086] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:30 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.910s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:32 ERROR: [Worker 0] Worker 0 house 2 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:34 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:34 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 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078946m [env.py: 870] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07934736 -0.67009001 0.07894558] yaw=-185.4deg [env.py: 1019] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.26023761 -0.58835888 0.07894558] yaw=-147.0deg [env.py: 1019] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03655693 -1.13064273 0.07894558] yaw=182.4deg [env.py: 1019] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.3ms, total=117.3ms [env.py: 1075] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.079, -0.670, 0.079) [env.py: 1079] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.4 deg [env.py: 1082] +05/18 15:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:34 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.722s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.825[m] 112.208[deg] [grasp_sample.py: 596] +05/18 15:50:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:51:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:48 INFO: [Worker 0] Worker 0 house 2 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:52:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:52:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:52:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:52:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.86s (batch: 2.94s, save: 6.92s) [pipeline.py: 300] +05/18 15:52:13 INFO: [Worker 0] [PROFILE] Episode 11 house 2 success=True episode_total=0.91s: + episode_total: mean=34.61s, total=103.82s, count=3, min=2293.8ms, max=99203.2ms + sensor_polling: mean=216.8ms, total=65.03s, count=300, min=192.7ms, max=423.8ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6920.2ms, max=6920.2ms + physics_step: mean=14.3ms, total=4.29s, count=300, min=11.0ms, max=25.1ms + save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2937.1ms, max=2937.1ms + task_sampling: mean=302.9ms, total=908.8ms, count=3, min=289.0ms, max=328.2ms + task_specific_sample: mean=300.6ms, total=901.8ms, count=3, min=287.1ms, max=325.4ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.8ms, max=1.8ms + mj_forward_sync: mean=325.0us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=13.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:15 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 15:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027108m [env.py: 870] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=142.8ms, total=142.8ms [env.py: 1105] +05/18 15:52:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:52:15 ERROR: [Worker 0] Worker 0 house 2 episode 12 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013466m [env.py: 870] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17147621 -0.35850492 0.01346587] yaw=-176.4deg [env.py: 1019] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09634068 -0.41794597 0.01346587] yaw=-174.3deg [env.py: 1019] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11342919 -0.5828273 0.01346587] yaw=-139.6deg [env.py: 1019] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.3ms, total=138.4ms [env.py: 1075] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.171, -0.359, 0.013) [env.py: 1079] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.4 deg [env.py: 1082] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:17 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.991s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:19 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.694[m] 43.945[deg] [grasp_sample.py: 596] +05/18 15:52:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:53:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:53:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 70 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:35 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.047s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:53:35 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.155[m] 2.014[deg] [grasp_sample.py: 596] +05/18 15:53:36 ERROR: [Worker 0] Worker 0 house 2 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:53:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:37 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 15:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:37 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 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026577m [env.py: 870] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14538825 -0.02369186 -0.02657717] yaw=-113.0deg [env.py: 1019] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14000933 -0.876693 -0.02657717] yaw=-194.3deg [env.py: 1019] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.46720693 -0.23168875 -0.02657717] yaw=-138.1deg [env.py: 1019] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.3ms, total=107.3ms [env.py: 1075] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.145, -0.024, -0.027) [env.py: 1079] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.0 deg [env.py: 1082] +05/18 15:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.288m [env.py: 1086] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:37 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:37 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 15:53:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.909s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:53:39 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:41 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 15:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051688m [env.py: 870] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12839293 -0.65518383 0.05168828] yaw=-141.4deg [env.py: 1019] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10793318 -0.58935258 0.05168828] yaw=-144.4deg [env.py: 1019] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.33915706 -0.40744654 0.05168828] yaw=-117.7deg [env.py: 1019] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.6ms [env.py: 1075] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.128, -0.655, 0.052) [env.py: 1079] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.4 deg [env.py: 1082] +05/18 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.231m [env.py: 1086] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:41 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.944s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:53:43 ERROR: [Worker 0] Worker 0 house 2 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:53:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:53:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096412m [env.py: 870] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09085952 -0.44821802 0.09641244] yaw=-177.6deg [env.py: 1019] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.33297797 -0.27621217 0.09641244] yaw=-148.6deg [env.py: 1019] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2509456 -0.39657728 0.09641244] yaw=-166.3deg [env.py: 1019] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.4ms [env.py: 1075] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -0.448, 0.096) [env.py: 1079] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.6 deg [env.py: 1082] +05/18 15:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.256m [env.py: 1086] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:45 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.866s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:53:47 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:53:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:53:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082770m [env.py: 870] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16180544 -0.76064264 0.08276965] yaw=-186.4deg [env.py: 1019] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14386542 -0.50771976 0.08276965] yaw=-150.0deg [env.py: 1019] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms [env.py: 1075] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -0.761, 0.083) [env.py: 1079] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.4 deg [env.py: 1082] +05/18 15:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.246m [env.py: 1086] +05/18 15:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:49 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.972s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:53:51 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:53:51 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 15:53:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:53:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004293m [env.py: 870] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02612072 -0.57336515 -0.00429284] yaw=-186.3deg [env.py: 1019] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21020663 -0.05473212 -0.00429284] yaw=-116.4deg [env.py: 1019] +05/18 15:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms [env.py: 1075] +05/18 15:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -0.573, -0.004) [env.py: 1079] +05/18 15:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.3 deg [env.py: 1082] +05/18 15:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.153m [env.py: 1086] +05/18 15:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:53 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.909s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:53:55 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:53:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:53:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015162m [env.py: 870] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08422877 -0.50817767 -0.01516152] yaw=-184.2deg [env.py: 1019] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0549904 -1.08763934 -0.01516152] yaw=177.7deg [env.py: 1019] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.35135741 -0.07808097 -0.01516152] yaw=-151.6deg [env.py: 1019] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.4ms, total=144.4ms [env.py: 1075] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.084, -0.508, -0.015) [env.py: 1079] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.2 deg [env.py: 1082] +05/18 15:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.228m [env.py: 1086] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:57 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.896s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:53:59 ERROR: [Worker 0] Worker 0 house 2 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019496m [env.py: 870] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.47119147 -0.09816832 -0.0194962 ] yaw=-142.9deg [env.py: 1019] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.26868619 -1.34052859 -0.0194962 ] yaw=136.1deg [env.py: 1019] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.3ms [env.py: 1075] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.471, -0.098, -0.019) [env.py: 1079] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg [env.py: 1082] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:00 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.954s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.736[m] 78.858[deg] [grasp_sample.py: 596] +05/18 15:54:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:54:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:54:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:54:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.917s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:56 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062302m [env.py: 870] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12256771 -1.09309154 0.06230218] yaw=181.5deg [env.py: 1019] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12843027 -1.01322938 0.06230218] yaw=172.6deg [env.py: 1019] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.1ms, total=144.1ms [env.py: 1075] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.123, -1.093, 0.062) [env.py: 1079] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.5 deg [env.py: 1082] +05/18 15:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.210m [env.py: 1086] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:58 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.885s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:59 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:55:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:55:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028462m [env.py: 870] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.16334548 -0.27705744 -0.0284622 ] yaw=-133.1deg [env.py: 1019] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02015838 -1.19727424 -0.0284622 ] yaw=150.2deg [env.py: 1019] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.2ms [env.py: 1075] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.163, -0.277, -0.028) [env.py: 1079] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg [env.py: 1082] +05/18 15:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m [env.py: 1086] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:01 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.908s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:03 ERROR: [Worker 0] Worker 0 house 2 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:55:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:05 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 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037769m [env.py: 870] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14977819 -0.11814372 -0.03776859] yaw=-145.6deg [env.py: 1019] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.26200394 -0.57896827 -0.03776859] yaw=-155.0deg [env.py: 1019] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09798029 -0.96443069 -0.03776859] yaw=152.1deg [env.py: 1019] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms [env.py: 1075] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.150, -0.118, -0.038) [env.py: 1079] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg [env.py: 1082] +05/18 15:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.221m [env.py: 1086] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:05 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.935s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:07 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:55:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:55:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089116m [env.py: 870] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11342939 -0.70997527 0.08911618] yaw=-168.3deg [env.py: 1019] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.42738245 0.02299768 0.08911618] yaw=-114.4deg [env.py: 1019] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20867758 -1.21261751 0.08911618] yaw=165.3deg [env.py: 1019] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.5ms, total=87.6ms [env.py: 1075] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.113, -0.710, 0.089) [env.py: 1079] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg [env.py: 1082] +05/18 15:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:09 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:09 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 15:55:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.356s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:12 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.511[m] 72.324[deg] [grasp_sample.py: 596] +05/18 15:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:55:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:24 INFO: [Worker 0] Worker 0 house 2 episode 24 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:56:38 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:56:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:56:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:56:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:56:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:56:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.54s (batch: 2.60s, save: 6.94s) [pipeline.py: 300] +05/18 15:56:49 INFO: [Worker 0] [PROFILE] Episode 24 house 2 success=True episode_total=3.67s: + episode_total: mean=19.62s, total=255.09s, count=13, min=152.6ms, max=99469.8ms + sensor_polling: mean=214.7ms, total=167.65s, count=781, min=193.0ms, max=450.1ms + physics_step: mean=14.4ms, total=11.25s, count=781, min=11.0ms, max=26.9ms + save_trajectories: mean=6.94s, total=6.94s, count=1, min=6941.9ms, max=6941.9ms + task_specific_sample: mean=291.3ms, total=3.79s, count=13, min=147.8ms, max=327.7ms + task_sampling: mean=305.5ms, total=3.67s, count=12, min=261.6ms, max=331.0ms + save_batch_prep: mean=2.60s, total=2.60s, count=1, min=2599.0ms, max=2599.0ms + task_sampling_failed: mean=152.5ms, total=152.5ms, count=1, min=152.5ms, max=152.5ms + scene_randomize: mean=998.2us, total=13.0ms, count=13, min=0.8ms, max=2.4ms + mj_forward_sync: mean=329.1us, total=4.3ms, count=13, min=0.3ms, max=0.4ms + policy_setup: mean=13.1us, total=0.2ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:50 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 15:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058890m [env.py: 870] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07378829 -0.36811162 0.05888981] yaw=-134.0deg [env.py: 1019] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00727838 -1.02058899 0.05888981] yaw=164.6deg [env.py: 1019] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00055634 -0.28563536 0.05888981] yaw=-135.6deg [env.py: 1019] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.2ms [env.py: 1075] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.074, -0.368, 0.059) [env.py: 1079] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg [env.py: 1082] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m [env.py: 1086] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:50 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.869s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:52 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:54 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 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098117m [env.py: 870] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13023268 -1.07782332 -0.09811664] yaw=151.3deg [env.py: 1019] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0398507 -0.15950483 -0.09811664] yaw=-135.7deg [env.py: 1019] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.05623959 -1.44758241 -0.09811664] yaw=168.1deg [env.py: 1019] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=67.8ms, total=67.8ms [env.py: 1075] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.130, -1.078, -0.098) [env.py: 1079] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.3 deg [env.py: 1082] +05/18 15:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:54 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:55 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.622[m] 85.312[deg] [grasp_sample.py: 596] +05/18 15:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:14 INFO: [Worker 0] Worker 0 house 2 episode 26 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:58:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 15:58:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:58:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:58:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:58:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 15:58:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.14s (batch: 2.89s, save: 7.24s) [pipeline.py: 300] +05/18 15:58:39 INFO: [Worker 0] [PROFILE] Episode 26 house 2 success=True episode_total=0.56s: + episode_total: mean=53.98s, total=107.95s, count=2, min=2289.9ms, max=105664.2ms + sensor_polling: mean=215.0ms, total=64.50s, count=300, min=197.9ms, max=364.3ms + save_trajectories: mean=7.24s, total=7.24s, count=1, min=7243.3ms, max=7243.3ms + physics_step: mean=14.1ms, total=4.22s, count=300, min=11.0ms, max=16.4ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2892.9ms, max=2892.9ms + task_sampling: mean=277.5ms, total=555.1ms, count=2, min=242.7ms, max=312.3ms + task_specific_sample: mean=274.5ms, total=548.9ms, count=2, min=240.4ms, max=308.6ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.8ms, max=2.6ms + mj_forward_sync: mean=319.1us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:58:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:58:41 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 15:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.082m, effective arm-mount z=0.778m (base_body_z=-0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081823m [env.py: 870] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.50797938 -0.26920481 -0.08182345] yaw=-112.2deg [env.py: 1019] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13507493 -0.44252584 -0.08182345] yaw=-136.6deg [env.py: 1019] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18091832 -0.79479523 -0.08182345] yaw=-201.8deg [env.py: 1019] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.0ms, total=74.1ms [env.py: 1075] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.508, -0.269, -0.082) [env.py: 1079] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.2 deg [env.py: 1082] +05/18 15:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:41 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 69.883[deg] [grasp_sample.py: 596] +05/18 15:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:59:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:59:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:50 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.919s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:50 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.275[deg] [grasp_sample.py: 596] +05/18 15:59:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:59:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:59:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:00 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:00:13 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:00:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:00:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:00:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:00:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:00:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.61s (batch: 2.76s, save: 6.85s) [pipeline.py: 300] +05/18 16:00:23 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=True episode_total=0.27s: + episode_total: mean=102.55s, total=102.55s, count=1, min=102553.8ms, max=102553.8ms + sensor_polling: mean=211.3ms, total=63.38s, count=300, min=188.8ms, max=351.8ms + save_trajectories: mean=6.85s, total=6.85s, count=1, min=6849.0ms, max=6849.0ms + physics_step: mean=14.2ms, total=4.27s, count=300, min=11.2ms, max=21.5ms + save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2759.1ms, max=2759.1ms + task_sampling: mean=267.8ms, total=267.8ms, count=1, min=267.8ms, max=267.8ms + task_specific_sample: mean=264.3ms, total=264.3ms, count=1, min=264.3ms, max=264.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=324.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.3us, 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 16:00:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:25 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 16:00:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094898m [env.py: 870] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.48791098 -0.08530159 0.09489769] yaw=-144.3deg [env.py: 1019] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04129692 -1.21521092 0.09489769] yaw=141.3deg [env.py: 1019] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03552682 -0.81479572 0.09489769] yaw=-187.9deg [env.py: 1019] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms [env.py: 1075] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.488, -0.085, 0.095) [env.py: 1079] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg [env.py: 1082] +05/18 16:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:25 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:25 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 16:00:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.879s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:00:27 ERROR: [Worker 0] Worker 0 house 2 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:00:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:00:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.061m, effective arm-mount z=0.799m (base_body_z=-0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060710m [env.py: 870] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.00745119 -0.42027149 -0.06071013] yaw=-146.8deg [env.py: 1019] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.135059 -0.61051498 -0.06071013] yaw=-169.4deg [env.py: 1019] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.0ms, total=143.1ms [env.py: 1075] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -0.420, -0.061) [env.py: 1079] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.8 deg [env.py: 1082] +05/18 16:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.190m [env.py: 1086] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:29 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.943s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:00:31 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:32 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 16:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:32 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 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026137m [env.py: 870] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01120158 -1.26340279 -0.02613728] yaw=136.4deg [env.py: 1019] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13080973 -0.60024262 -0.02613728] yaw=-152.5deg [env.py: 1019] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21029601 -0.09044803 -0.02613728] yaw=-149.6deg [env.py: 1019] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.6ms, total=104.6ms [env.py: 1075] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -1.263, -0.026) [env.py: 1079] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.4 deg [env.py: 1082] +05/18 16:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.140m [env.py: 1086] +05/18 16:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:33 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:33 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 16:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.853s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:00:35 ERROR: [Worker 0] Worker 0 house 2 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004705m [env.py: 870] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08280277 -0.85016796 0.00470499] yaw=-155.5deg [env.py: 1019] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18786361 -0.93737149 0.00470499] yaw=181.9deg [env.py: 1019] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08762831 -0.95354466 0.00470499] yaw=152.6deg [env.py: 1019] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.9ms, total=87.9ms [env.py: 1075] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.083, -0.850, 0.005) [env.py: 1079] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg [env.py: 1082] +05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:36 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.966s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:40 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.716[m] 111.334[deg] [grasp_sample.py: 596] +05/18 16:00:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:01:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:53 INFO: [Worker 0] Worker 0 house 2 episode 31 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:02:07 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:02:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:02:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:02:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:02:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:02:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.62s (batch: 2.70s, save: 6.93s) [pipeline.py: 300] +05/18 16:02:17 INFO: [Worker 0] [PROFILE] Episode 31 house 2 success=True episode_total=1.19s: + episode_total: mean=26.96s, total=107.83s, count=4, min=2215.3ms, max=100941.2ms + sensor_polling: mean=218.9ms, total=65.68s, count=300, min=193.5ms, max=369.9ms + save_trajectories: mean=6.93s, total=6.93s, count=1, min=6926.2ms, max=6926.2ms + physics_step: mean=14.9ms, total=4.47s, count=300, min=12.7ms, max=18.2ms + save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2696.8ms, max=2696.8ms + task_sampling: mean=296.6ms, total=1.19s, count=4, min=258.4ms, max=331.3ms + task_specific_sample: mean=294.4ms, total=1.18s, count=4, min=256.5ms, max=328.7ms + scene_randomize: mean=1.0ms, total=4.0ms, count=4, min=0.8ms, max=1.6ms + mj_forward_sync: mean=325.9us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=13.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:02:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:19 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018590m [env.py: 870] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25256011 -1.2864763 0.01859018] yaw=130.2deg [env.py: 1019] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.18078603 -1.15353912 0.01859018] yaw=143.1deg [env.py: 1019] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.1ms [env.py: 1075] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.253, -1.286, 0.019) [env.py: 1079] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.2 deg [env.py: 1082] +05/18 16:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:19 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +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 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.662s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:20 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.529[m] 64.955[deg] [grasp_sample.py: 596] +05/18 16:02:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:20 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 16:02:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:02:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:03:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:03:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:28 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.698s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.071[m] 9.118[deg] [grasp_sample.py: 596] +05/18 16:03:29 ERROR: [Worker 0] Worker 0 house 2 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024353m [env.py: 870] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08083694 -0.69188384 0.02435331] yaw=-186.3deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.11514973 -0.39220339 0.02435331] yaw=-135.1deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.3ms [env.py: 1075] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.081, -0.692, 0.024) [env.py: 1079] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.3 deg [env.py: 1082] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:31 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:31 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 16:03:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.763s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.845[m] 84.286[deg] [grasp_sample.py: 596] +05/18 16:03:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:03:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:03:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:04:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:45 INFO: [Worker 0] Worker 0 house 2 episode 33 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:05:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:05:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.83s (batch: 2.89s, save: 6.94s) [pipeline.py: 300] +05/18 16:05:10 INFO: [Worker 0] [PROFILE] Episode 33 house 2 success=True episode_total=0.67s: + episode_total: mean=84.98s, total=169.96s, count=2, min=70117.5ms, max=99838.6ms + sensor_polling: mean=218.2ms, total=120.03s, count=550, min=193.1ms, max=449.1ms + physics_step: mean=14.4ms, total=7.94s, count=550, min=11.2ms, max=23.6ms + save_trajectories: mean=6.94s, total=6.94s, count=1, min=6938.6ms, max=6938.6ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2890.0ms, max=2890.0ms + task_sampling: mean=335.9ms, total=671.9ms, count=2, min=328.1ms, max=343.7ms + task_specific_sample: mean=333.0ms, total=665.9ms, count=2, min=325.6ms, max=340.3ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=327.0us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:05:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:05:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:05:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083567m [env.py: 870] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11858958 -0.95526732 0.08356687] yaw=161.9deg [env.py: 1019] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.1056444 -0.68073245 0.08356687] yaw=-173.1deg [env.py: 1019] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=381.9ms, total=382.0ms [env.py: 1075] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.119, -0.955, 0.084) [env.py: 1079] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg [env.py: 1082] +05/18 16:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:12 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.193s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:14 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.646[m] 48.938[deg] [grasp_sample.py: 596] +05/18 16:05:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:14 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 16:05:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:28 INFO: [Worker 0] Worker 0 house 2 episode 34 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:06:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:06:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:06:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:06:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:06:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:06:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.46s (batch: 2.55s, save: 6.91s) [pipeline.py: 300] +05/18 16:06:52 INFO: [Worker 0] [PROFILE] Episode 34 house 2 success=True episode_total=0.58s: + episode_total: mean=100.24s, total=100.24s, count=1, min=100242.2ms, max=100242.2ms + sensor_polling: mean=214.3ms, total=64.29s, count=300, min=196.9ms, max=437.6ms + save_trajectories: mean=6.91s, total=6.91s, count=1, min=6911.6ms, max=6911.6ms + physics_step: mean=13.9ms, total=4.16s, count=300, min=11.3ms, max=17.4ms + save_batch_prep: mean=2.55s, total=2.55s, count=1, min=2551.5ms, max=2551.5ms + task_sampling: mean=581.5ms, total=581.5ms, count=1, min=581.5ms, max=581.5ms + task_specific_sample: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + policy_setup: mean=18.5us, 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 16:06:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:06:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:06:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:06:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:06:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:06:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:06:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004817m [env.py: 870] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:06:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2007087 -0.86304521 0.00481661] yaw=-201.0deg [env.py: 1019] +05/18 16:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.2210662 -0.16590926 0.00481661] yaw=-151.6deg [env.py: 1019] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04177259 -0.31234543 0.00481661] yaw=-176.3deg [env.py: 1019] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.9ms, total=138.0ms [env.py: 1075] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -0.863, 0.005) [env.py: 1079] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.0 deg [env.py: 1082] +05/18 16:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.276m [env.py: 1086] +05/18 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:06:54 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:06:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 16:06:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:06:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.902s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:06:56 ERROR: [Worker 0] Worker 0 house 2 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:06:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:06:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:06:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:06:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:06:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:06:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063042m [env.py: 870] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:06:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02585509 -1.34199691 -0.06304223] yaw=147.7deg [env.py: 1019] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14034971 -0.61212613 -0.06304223] yaw=-150.0deg [env.py: 1019] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21303414 -1.37935849 -0.06304223] yaw=126.7deg [env.py: 1019] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=53.8ms, total=53.8ms [env.py: 1075] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.026, -1.342, -0.063) [env.py: 1079] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.7 deg [env.py: 1082] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m [env.py: 1086] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:06:57 INFO: [Worker 0] Worker 0 house 2 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.879s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:06:59 ERROR: [Worker 0] Worker 0 house 2 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015573m [env.py: 870] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.27788026 -0.03949362 -0.01557333] yaw=-160.6deg [env.py: 1019] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03421655 -0.67662268 -0.01557333] yaw=-188.8deg [env.py: 1019] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.3ms [env.py: 1075] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.278, -0.039, -0.016) [env.py: 1079] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg [env.py: 1082] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.184m [env.py: 1086] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:01 INFO: [Worker 0] Worker 0 house 2 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.953s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:03 ERROR: [Worker 0] Worker 0 house 2 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020302m [env.py: 870] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.066679 -0.64124695 -0.02030223] yaw=-190.1deg [env.py: 1019] +05/18 16:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18393966 -0.71116382 -0.02030223] yaw=-139.9deg [env.py: 1019] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.01218977 -0.39944324 -0.02030223] yaw=-142.2deg [env.py: 1019] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.8ms [env.py: 1075] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.067, -0.641, -0.020) [env.py: 1079] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.1 deg [env.py: 1082] +05/18 16:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.174m [env.py: 1086] +05/18 16:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:05 INFO: [Worker 0] Worker 0 house 2 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.930s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:07 ERROR: [Worker 0] Worker 0 house 2 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059686m [env.py: 870] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 140.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03019023 -0.25612694 0.05968577] yaw=-164.8deg [env.py: 1019] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01622513 -0.95768435 0.05968577] yaw=163.4deg [env.py: 1019] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.14744644 -1.04955511 0.05968577] yaw=155.8deg [env.py: 1019] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms [env.py: 1075] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.030, -0.256, 0.060) [env.py: 1079] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg [env.py: 1082] +05/18 16:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.287m [env.py: 1086] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:09 INFO: [Worker 0] Worker 0 house 2 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:09 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 16:07:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.953s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:11 ERROR: [Worker 0] Worker 0 house 2 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068077m [env.py: 870] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01341503 -0.5321326 -0.06807652] yaw=-161.2deg [env.py: 1019] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=143.0ms, total=143.0ms [env.py: 1075] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.013, -0.532, -0.068) [env.py: 1079] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg [env.py: 1082] +05/18 16:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.154m [env.py: 1086] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:12 INFO: [Worker 0] Worker 0 house 2 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.083s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:15 ERROR: [Worker 0] Worker 0 house 2 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:16 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 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010537m [env.py: 870] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02031001 -0.64349104 0.01053722] yaw=-153.7deg [env.py: 1019] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03365061 -1.44248733 0.01053722] yaw=147.0deg [env.py: 1019] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.9ms, total=141.9ms [env.py: 1075] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.020, -0.643, 0.011) [env.py: 1079] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg [env.py: 1082] +05/18 16:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.128m [env.py: 1086] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:16 INFO: [Worker 0] Worker 0 house 2 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:16 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 16:07:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.531s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:21 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.730[m] 159.647[deg] [grasp_sample.py: 596] +05/18 16:07:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:08:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:31 INFO: [Worker 0] Worker 0 house 2 episode 41 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:08:31 INFO: [Worker 0] [PROFILE] Episode 41 house 2 success=False episode_total=2.07s: + episode_total: mean=12.65s, total=88.56s, count=7, min=2188.3ms, max=74570.7ms + sensor_polling: mean=212.4ms, total=63.72s, count=300, min=188.5ms, max=497.4ms + physics_step: mean=14.1ms, total=4.24s, count=300, min=11.7ms, max=19.9ms + task_sampling: mean=296.2ms, total=2.07s, count=7, min=223.2ms, max=328.5ms + task_specific_sample: mean=294.1ms, total=2.06s, count=7, min=220.9ms, max=325.9ms + scene_randomize: mean=954.4us, total=6.7ms, count=7, min=0.8ms, max=1.5ms + mj_forward_sync: mean=317.9us, total=2.2ms, count=7, min=0.3ms, max=0.3ms + policy_setup: mean=12.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:32 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 16:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008887m [env.py: 870] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21347346 -0.60251767 0.00888738] yaw=-140.5deg [env.py: 1019] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0230371 -1.4688084 0.00888738] yaw=167.1deg [env.py: 1019] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15627957 -1.39780902 0.00888738] yaw=160.9deg [env.py: 1019] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms [env.py: 1075] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.213, -0.603, 0.009) [env.py: 1079] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg [env.py: 1082] +05/18 16:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:32 INFO: [Worker 0] Worker 0 house 2 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.622[m] 101.474[deg] [grasp_sample.py: 596] +05/18 16:08:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:09:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:49 INFO: [Worker 0] Worker 0 house 2 episode 42 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:10:04 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:10:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:10:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:10:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:10:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:10:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.22s (batch: 3.24s, save: 6.98s) [pipeline.py: 300] +05/18 16:10:15 INFO: [Worker 0] [PROFILE] Episode 42 house 2 success=True episode_total=0.30s: + episode_total: mean=102.56s, total=102.56s, count=1, min=102560.2ms, max=102560.2ms + sensor_polling: mean=216.6ms, total=64.98s, count=300, min=193.8ms, max=472.8ms + save_trajectories: mean=6.98s, total=6.98s, count=1, min=6977.4ms, max=6977.4ms + physics_step: mean=14.7ms, total=4.42s, count=300, min=10.9ms, max=17.7ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3238.2ms, max=3238.2ms + task_sampling: mean=297.8ms, total=297.8ms, count=1, min=297.8ms, max=297.8ms + task_specific_sample: mean=295.8ms, total=295.8ms, count=1, min=295.8ms, max=295.8ms + scene_randomize: mean=846.1us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + mj_forward_sync: mean=316.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=16.3us, 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 16:10:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023823m [env.py: 870] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12346724 -1.11344272 0.02382251] yaw=146.3deg [env.py: 1019] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07372563 -0.78052022 0.02382251] yaw=-145.0deg [env.py: 1019] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.47949429 -0.24589797 0.02382251] yaw=-139.8deg [env.py: 1019] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.0ms, total=87.0ms [env.py: 1075] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -1.113, 0.024) [env.py: 1079] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.3 deg [env.py: 1082] +05/18 16:10:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:17 INFO: [Worker 0] Worker 0 house 2 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.886s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.866[m] 63.568[deg] [grasp_sample.py: 596] +05/18 16:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:18 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 16:10:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:28 INFO: [Worker 0] Worker 0 house 2 episode 43 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:11:44 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:11:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:11:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:11:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:11:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:11:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.61s (batch: 3.15s, save: 7.46s) [pipeline.py: 300] +05/18 16:11:55 INFO: [Worker 0] [PROFILE] Episode 43 house 2 success=True episode_total=0.29s: + episode_total: mean=98.90s, total=98.90s, count=1, min=98899.4ms, max=98899.4ms + sensor_polling: mean=213.6ms, total=64.09s, count=300, min=196.5ms, max=413.9ms + save_trajectories: mean=7.46s, total=7.46s, count=1, min=7460.3ms, max=7460.3ms + physics_step: mean=14.7ms, total=4.40s, count=300, min=12.8ms, max=20.9ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3145.1ms, max=3145.1ms + task_sampling: mean=285.8ms, total=285.8ms, count=1, min=285.8ms, max=285.8ms + task_specific_sample: mean=282.8ms, total=282.8ms, count=1, min=282.8ms, max=282.8ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=330.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:11:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:11:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:11:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:11:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027102m [env.py: 870] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05569024 -1.4562678 0.02710151] yaw=152.5deg [env.py: 1019] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08462646 -1.19981344 0.02710151] yaw=143.5deg [env.py: 1019] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15995976 -1.0079953 0.02710151] yaw=181.2deg [env.py: 1019] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms [env.py: 1075] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -1.456, 0.027) [env.py: 1079] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.5 deg [env.py: 1082] +05/18 16:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.253m [env.py: 1086] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:57 INFO: [Worker 0] Worker 0 house 2 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.966s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:11:59 ERROR: [Worker 0] Worker 0 house 2 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.061m, effective arm-mount z=0.799m (base_body_z=-0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061257m [env.py: 870] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17636037 -0.87483225 -0.06125712] yaw=-176.6deg [env.py: 1019] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms [env.py: 1075] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.176, -0.875, -0.061) [env.py: 1079] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg [env.py: 1082] +05/18 16:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:01 INFO: [Worker 0] Worker 0 house 2 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.692s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.518[m] 82.204[deg] [grasp_sample.py: 596] +05/18 16:12:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:12:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:13 INFO: [Worker 0] Worker 0 house 2 episode 45 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:13:29 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:13:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:13:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:13:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:13:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:13:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.22s (batch: 2.99s, save: 7.23s) [pipeline.py: 300] +05/18 16:13:40 INFO: [Worker 0] [PROFILE] Episode 45 house 2 success=True episode_total=0.60s: + episode_total: mean=51.01s, total=102.02s, count=2, min=2375.3ms, max=99642.0ms + sensor_polling: mean=215.9ms, total=64.78s, count=300, min=196.0ms, max=496.5ms + save_trajectories: mean=7.23s, total=7.23s, count=1, min=7225.5ms, max=7225.5ms + physics_step: mean=14.9ms, total=4.47s, count=300, min=12.1ms, max=20.7ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2989.8ms, max=2989.8ms + task_sampling: mean=302.3ms, total=604.7ms, count=2, min=286.3ms, max=318.4ms + task_specific_sample: mean=299.8ms, total=599.6ms, count=2, min=283.7ms, max=315.9ms + scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.1ms, max=1.6ms + mj_forward_sync: mean=325.9us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097913m [env.py: 870] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16837854 -0.0152141 0.09791276] yaw=-112.6deg [env.py: 1019] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.19932923 -0.37775065 0.09791276] yaw=-141.3deg [env.py: 1019] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=418.2ms, total=418.2ms [env.py: 1075] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.168, -0.015, 0.098) [env.py: 1079] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.6 deg [env.py: 1082] +05/18 16:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.278m [env.py: 1086] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:42 INFO: [Worker 0] Worker 0 house 2 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:42 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 16:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.861s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:13:44 ERROR: [Worker 0] Worker 0 house 2 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:46 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 16:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018548m [env.py: 870] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04060786 -0.22557345 0.01854785] yaw=-125.0deg [env.py: 1019] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13790114 -0.53383614 0.01854785] yaw=-149.3deg [env.py: 1019] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.7ms, total=144.7ms [env.py: 1075] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -0.226, 0.019) [env.py: 1079] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.0 deg [env.py: 1082] +05/18 16:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.243m [env.py: 1086] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:46 INFO: [Worker 0] Worker 0 house 2 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.909s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:13:48 ERROR: [Worker 0] Worker 0 house 2 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:13:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:50 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 16:13:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045258m [env.py: 870] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.53596375 -0.1428631 -0.04525824] yaw=-98.2deg [env.py: 1019] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27098183 -1.25020592 -0.04525824] yaw=169.3deg [env.py: 1019] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27647802 -0.12401486 -0.04525824] yaw=-129.0deg [env.py: 1019] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.6ms, total=94.6ms [env.py: 1075] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.536, -0.143, -0.045) [env.py: 1079] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.2 deg [env.py: 1082] +05/18 16:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:50 INFO: [Worker 0] Worker 0 house 2 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:50 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 16:13:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.992s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:52 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.803[m] 93.060[deg] [grasp_sample.py: 596] +05/18 16:13:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:14:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:53 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.426s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:53 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.050[m] 24.607[deg] [grasp_sample.py: 596] +05/18 16:14:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:06 INFO: [Worker 0] Worker 0 house 2 episode 48 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:15:06 INFO: [Worker 0] [PROFILE] Episode 48 house 2 success=False episode_total=1.20s: + episode_total: mean=27.26s, total=81.78s, count=3, min=2333.5ms, max=76861.5ms + sensor_polling: mean=205.9ms, total=61.78s, count=300, min=186.8ms, max=408.3ms + physics_step: mean=13.8ms, total=4.14s, count=300, min=11.0ms, max=28.5ms + task_sampling: mean=399.8ms, total=1.20s, count=3, min=265.6ms, max=613.8ms + task_specific_sample: mean=397.5ms, total=1.19s, count=3, min=263.7ms, max=611.1ms + scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=0.9ms, max=1.6ms + mj_forward_sync: mean=323.6us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=15.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:15:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:08 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 16:15:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094992m [env.py: 870] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26977834 0.05442369 0.0949916 ] yaw=-152.8deg [env.py: 1019] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.3ms, total=138.3ms [env.py: 1075] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.270, 0.054, 0.095) [env.py: 1079] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg [env.py: 1082] +05/18 16:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.261m [env.py: 1086] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:08 INFO: [Worker 0] Worker 0 house 2 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:08 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 16:15:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:10 ERROR: [Worker 0] Worker 0 house 2 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088784m [env.py: 870] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08341482 -1.24511302 0.08878445] yaw=184.9deg [env.py: 1019] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14753867 -1.1593444 0.08878445] yaw=178.5deg [env.py: 1019] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1200743 -0.99390178 0.08878445] yaw=179.8deg [env.py: 1019] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.083, -1.245, 0.089) [env.py: 1079] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.9 deg [env.py: 1082] +05/18 16:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:12 INFO: [Worker 0] Worker 0 house 2 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.573s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 91.707[deg] [grasp_sample.py: 596] +05/18 16:15:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:14 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 16:15:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:15:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.010s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.140[m] 19.675[deg] [grasp_sample.py: 596] +05/18 16:15:51 ERROR: [Worker 0] Worker 0 house 2 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:15:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.066m, effective arm-mount z=0.794m (base_body_z=-0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066190m [env.py: 870] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=137.1ms, total=137.1ms [env.py: 1105] +05/18 16:15:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:15:53 ERROR: [Worker 0] Worker 0 house 2 episode 51 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016788m [env.py: 870] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05985593 -0.96367206 0.01678754] yaw=167.5deg [env.py: 1019] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.20442245 -0.59504897 0.01678754] yaw=-158.4deg [env.py: 1019] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.43140489 -0.18298018 0.01678754] yaw=-117.2deg [env.py: 1019] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.6ms, total=113.6ms [env.py: 1075] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.060, -0.964, 0.017) [env.py: 1079] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg [env.py: 1082] +05/18 16:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:54 INFO: [Worker 0] Worker 0 house 2 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 86.670[deg] [grasp_sample.py: 596] +05/18 16:15:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:16:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:16:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:05 INFO: [Worker 0] Worker 0 house 2 episode 52 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:17:21 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:17:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:17:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:17:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.23s (batch: 3.08s, save: 7.15s) [pipeline.py: 300] +05/18 16:17:32 INFO: [Worker 0] [PROFILE] Episode 52 house 2 success=True episode_total=1.00s: + episode_total: mean=34.72s, total=138.88s, count=4, min=144.2ms, max=97470.6ms + sensor_polling: mean=212.6ms, total=92.04s, count=433, min=198.3ms, max=433.7ms + save_trajectories: mean=7.15s, total=7.15s, count=1, min=7148.8ms, max=7148.8ms + physics_step: mean=13.6ms, total=5.91s, count=433, min=11.0ms, max=16.6ms + save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3078.6ms, max=3078.6ms + task_specific_sample: mean=284.0ms, total=1.14s, count=4, min=140.9ms, max=379.5ms + task_sampling: mean=334.4ms, total=1.00s, count=3, min=301.6ms, max=382.7ms + task_sampling_failed: mean=144.2ms, total=144.2ms, count=1, min=144.2ms, max=144.2ms + scene_randomize: mean=905.3us, total=3.6ms, count=4, min=0.9ms, max=1.0ms + mj_forward_sync: mean=324.8us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=13.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080160m [env.py: 870] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02509235 -1.21150327 -0.08015978] yaw=143.2deg [env.py: 1019] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.37688095 -0.31512206 -0.08015978] yaw=-112.3deg [env.py: 1019] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26235739 -0.41032078 -0.08015978] yaw=-158.0deg [env.py: 1019] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.0ms, total=81.0ms [env.py: 1075] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -1.212, -0.080) [env.py: 1079] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.2 deg [env.py: 1082] +05/18 16:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.138m [env.py: 1086] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:33 INFO: [Worker 0] Worker 0 house 2 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.903s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:36 ERROR: [Worker 0] Worker 0 house 2 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:37 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 16:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089685m [env.py: 870] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19986319 -1.12302831 0.08968535] yaw=147.2deg [env.py: 1019] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2500406 -0.00591338 0.08968535] yaw=-131.6deg [env.py: 1019] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms [env.py: 1075] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.123, 0.090) [env.py: 1079] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg [env.py: 1082] +05/18 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.291m [env.py: 1086] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:37 INFO: [Worker 0] Worker 0 house 2 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:38 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 16:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.911s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:39 ERROR: [Worker 0] Worker 0 house 2 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095567m [env.py: 870] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23456586 -0.27256019 0.09556706] yaw=-156.8deg [env.py: 1019] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18189944 -0.72125894 0.09556706] yaw=-152.1deg [env.py: 1019] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19348146 -0.47883387 0.09556706] yaw=-154.4deg [env.py: 1019] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.6ms, total=147.7ms [env.py: 1075] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.235, -0.273, 0.096) [env.py: 1079] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.8 deg [env.py: 1082] +05/18 16:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:41 INFO: [Worker 0] Worker 0 house 2 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.813s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:44 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.635[m] 62.201[deg] [grasp_sample.py: 596] +05/18 16:17:45 ERROR: [Worker 0] Worker 0 house 2 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:17:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:47 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:47 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 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.075919m [env.py: 870] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09901916 -0.68936879 -0.0759195 ] yaw=-161.5deg [env.py: 1019] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=143.0ms, total=143.0ms [env.py: 1075] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -0.689, -0.076) [env.py: 1079] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.5 deg [env.py: 1082] +05/18 16:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.195m [env.py: 1086] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:47 INFO: [Worker 0] Worker 0 house 2 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:47 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 16:17:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.864s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:49 ERROR: [Worker 0] Worker 0 house 2 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:51 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068507m [env.py: 870] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13928978 -0.53932482 -0.06850745] yaw=-162.8deg [env.py: 1019] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.3ms [env.py: 1075] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.139, -0.539, -0.069) [env.py: 1079] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg [env.py: 1082] +05/18 16:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:51 INFO: [Worker 0] Worker 0 house 2 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:51 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 16:17:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.882s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.641[m] 96.873[deg] [grasp_sample.py: 596] +05/18 16:17:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:18:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:19:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:19:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.895s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.187[m] 77.767[deg] [grasp_sample.py: 596] +05/18 16:19:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:19:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:08 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.752s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:08 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.435[m] 84.679[deg] [grasp_sample.py: 596] +05/18 16:19:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:10 INFO: [Worker 0] Worker 0 house 2 episode 57 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:19:10 INFO: [Worker 0] [PROFILE] Episode 57 house 2 success=False episode_total=1.57s: + episode_total: mean=18.07s, total=90.37s, count=5, min=2271.7ms, max=79238.3ms + sensor_polling: mean=215.1ms, total=64.54s, count=300, min=196.1ms, max=480.6ms + physics_step: mean=14.7ms, total=4.40s, count=300, min=11.1ms, max=26.6ms + task_sampling: mean=314.5ms, total=1.57s, count=5, min=283.4ms, max=326.0ms + task_specific_sample: mean=311.9ms, total=1.56s, count=5, min=279.5ms, max=323.7ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.7ms + mj_forward_sync: mean=363.0us, total=1.8ms, count=5, min=0.3ms, max=0.4ms + policy_setup: mean=13.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061878m [env.py: 870] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.44905401 -0.06998167 0.0618776 ] yaw=-153.5deg [env.py: 1019] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01139677 -1.30642502 0.0618776 ] yaw=145.3deg [env.py: 1019] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.35152411 -0.27032999 0.0618776 ] yaw=-149.2deg [env.py: 1019] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.0ms, total=380.0ms [env.py: 1075] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.449, -0.070, 0.062) [env.py: 1079] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg [env.py: 1082] +05/18 16:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:12 INFO: [Worker 0] Worker 0 house 2 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.952s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:19:14 ERROR: [Worker 0] Worker 0 house 2 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063178m [env.py: 870] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21218245 -0.88494367 -0.06317807] yaw=-152.6deg [env.py: 1019] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.2296534 -0.24395732 -0.06317807] yaw=-143.5deg [env.py: 1019] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07082742 -1.03328368 -0.06317807] yaw=179.3deg [env.py: 1019] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.3ms [env.py: 1075] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.212, -0.885, -0.063) [env.py: 1079] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg [env.py: 1082] +05/18 16:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:16 INFO: [Worker 0] Worker 0 house 2 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:16 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 16:19:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 89.803[deg] [grasp_sample.py: 596] +05/18 16:19:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:19:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:27 INFO: [Worker 0] Worker 0 house 2 episode 59 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:43 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:20:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:20:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.04s (batch: 3.05s, save: 6.99s) [pipeline.py: 300] +05/18 16:20:54 INFO: [Worker 0] [PROFILE] Episode 59 house 2 success=True episode_total=0.90s: + episode_total: mean=50.28s, total=100.55s, count=2, min=2616.9ms, max=97935.9ms + sensor_polling: mean=213.6ms, total=64.09s, count=300, min=193.0ms, max=431.7ms + save_trajectories: mean=6.99s, total=6.99s, count=1, min=6994.8ms, max=6994.8ms + physics_step: mean=14.6ms, total=4.37s, count=300, min=12.0ms, max=18.8ms + save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3045.3ms, max=3045.3ms + task_sampling: mean=448.2ms, total=896.3ms, count=2, min=327.1ms, max=569.3ms + task_specific_sample: mean=445.5ms, total=891.0ms, count=2, min=323.7ms, max=567.2ms + scene_randomize: mean=903.3us, total=1.8ms, count=2, min=0.9ms, max=0.9ms + mj_forward_sync: mean=315.7us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:20:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:20:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:55 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:20:55 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 16:20:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096169m [env.py: 870] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15143378 -0.3750327 -0.09616944] yaw=-134.2deg [env.py: 1019] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09195467 -0.74130055 -0.09616944] yaw=-162.9deg [env.py: 1019] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms [env.py: 1075] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.151, -0.375, -0.096) [env.py: 1079] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg [env.py: 1082] +05/18 16:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:56 INFO: [Worker 0] Worker 0 house 2 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:56 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 16:20:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.118s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 94.700[deg] [grasp_sample.py: 596] +05/18 16:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:58 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 16:21:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:13 INFO: [Worker 0] Worker 0 house 2 episode 60 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:22:29 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:22:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:22:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:22:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:22:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:22:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.01s (batch: 3.09s, save: 6.92s) [pipeline.py: 300] +05/18 16:22:39 INFO: [Worker 0] [PROFILE] Episode 60 house 2 success=True episode_total=0.36s: + episode_total: mean=104.14s, total=104.14s, count=1, min=104144.6ms, max=104144.6ms + sensor_polling: mean=210.2ms, total=63.05s, count=300, min=188.8ms, max=410.7ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6916.4ms, max=6916.4ms + physics_step: mean=14.4ms, total=4.31s, count=300, min=11.6ms, max=18.6ms + save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3092.5ms, max=3092.5ms + task_sampling: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms + task_specific_sample: mean=355.5ms, total=355.5ms, count=1, min=355.5ms, max=355.5ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=349.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=15.5us, 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 16:22:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:41 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 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010711m [env.py: 870] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21819932 -0.37579513 0.01071149] yaw=-148.6deg [env.py: 1019] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09077877 -1.42521811 0.01071149] yaw=130.7deg [env.py: 1019] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.51005442 -0.19359446 0.01071149] yaw=-108.9deg [env.py: 1019] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.9ms, total=65.9ms [env.py: 1075] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.218, -0.376, 0.011) [env.py: 1079] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg [env.py: 1082] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:41 INFO: [Worker 0] Worker 0 house 2 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.912s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 93.332[deg] [grasp_sample.py: 596] +05/18 16:22:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:23:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:23:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:53 INFO: [Worker 0] Worker 0 house 2 episode 61 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:09 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:24:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:24:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:24:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.96s (batch: 3.06s, save: 6.90s) [pipeline.py: 300] +05/18 16:24:19 INFO: [Worker 0] [PROFILE] Episode 61 house 2 success=True episode_total=0.28s: + episode_total: mean=98.27s, total=98.27s, count=1, min=98265.4ms, max=98265.4ms + sensor_polling: mean=212.9ms, total=63.87s, count=300, min=196.7ms, max=434.4ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6900.0ms, max=6900.0ms + physics_step: mean=14.3ms, total=4.28s, count=300, min=11.7ms, max=21.6ms + save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3061.7ms, max=3061.7ms + task_sampling: mean=275.5ms, total=275.5ms, count=1, min=275.5ms, max=275.5ms + task_specific_sample: mean=272.7ms, total=272.7ms, count=1, min=272.7ms, max=272.7ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=338.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:24:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:21 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035052m [env.py: 870] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10336821 -0.45959249 0.03505151] yaw=-162.8deg [env.py: 1019] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 131.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20674373 -0.91632726 0.03505151] yaw=157.0deg [env.py: 1019] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20765073 -1.10573873 0.03505151] yaw=191.1deg [env.py: 1019] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.6ms [env.py: 1075] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.103, -0.460, 0.035) [env.py: 1079] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg [env.py: 1082] +05/18 16:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:21 INFO: [Worker 0] Worker 0 house 2 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.859s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.761[m] 118.144[deg] [grasp_sample.py: 596] +05/18 16:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:25:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:25:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:34 INFO: [Worker 0] Worker 0 house 2 episode 62 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:25:50 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:25:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:25:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:26:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:26:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:26:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.92s (batch: 3.03s, save: 6.90s) [pipeline.py: 300] +05/18 16:26:01 INFO: [Worker 0] [PROFILE] Episode 62 house 2 success=True episode_total=0.33s: + episode_total: mean=99.92s, total=99.92s, count=1, min=99915.7ms, max=99915.7ms + sensor_polling: mean=213.6ms, total=64.07s, count=300, min=193.7ms, max=387.1ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6895.9ms, max=6895.9ms + physics_step: mean=14.2ms, total=4.25s, count=300, min=12.2ms, max=19.4ms + save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3026.6ms, max=3026.6ms + task_sampling: mean=333.9ms, total=333.9ms, count=1, min=333.9ms, max=333.9ms + task_specific_sample: mean=331.1ms, total=331.1ms, count=1, min=331.1ms, max=331.1ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=334.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:26:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042421m [env.py: 870] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06068045 -1.10707826 -0.04242107] yaw=140.9deg [env.py: 1019] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.09098569 -0.79670943 -0.04242107] yaw=-197.2deg [env.py: 1019] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.43693348 0.07639253 -0.04242107] yaw=-146.0deg [env.py: 1019] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms [env.py: 1075] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.061, -1.107, -0.042) [env.py: 1079] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.9 deg [env.py: 1082] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:03 INFO: [Worker 0] Worker 0 house 2 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:03 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 16:26:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 107.258[deg] [grasp_sample.py: 596] +05/18 16:26:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:15 INFO: [Worker 0] Worker 0 house 2 episode 63 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:27:30 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:27:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:27:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:27:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:27:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 9.97s (batch: 3.05s, save: 6.92s) [pipeline.py: 300] +05/18 16:27:41 INFO: [Worker 0] [PROFILE] Episode 63 house 2 success=True episode_total=0.33s: + episode_total: mean=98.54s, total=98.54s, count=1, min=98543.1ms, max=98543.1ms + sensor_polling: mean=215.8ms, total=64.74s, count=300, min=192.8ms, max=493.4ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6924.0ms, max=6924.0ms + physics_step: mean=14.1ms, total=4.23s, count=300, min=11.0ms, max=17.1ms + save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3048.5ms, max=3048.5ms + task_sampling: mean=331.1ms, total=331.1ms, count=1, min=331.1ms, max=331.1ms + task_specific_sample: mean=327.9ms, total=327.9ms, count=1, min=327.9ms, max=327.9ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=339.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:42 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 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078691m [env.py: 870] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05823076 -0.14403839 -0.07869138] yaw=-141.1deg [env.py: 1019] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.38040291 0.10565143 -0.07869138] yaw=-139.6deg [env.py: 1019] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.49363377 -0.12401273 -0.07869138] yaw=-146.4deg [env.py: 1019] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.8ms, total=87.8ms [env.py: 1075] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.058, -0.144, -0.079) [env.py: 1079] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg [env.py: 1082] +05/18 16:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.276m [env.py: 1086] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:43 INFO: [Worker 0] Worker 0 house 2 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:43 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 16:27:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.875s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:45 ERROR: [Worker 0] Worker 0 house 2 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:46 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 16:27:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080675m [env.py: 870] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.54192745 -0.20696497 -0.08067504] yaw=-108.7deg [env.py: 1019] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03409755 -1.13704527 -0.08067504] yaw=163.5deg [env.py: 1019] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.5ms, total=141.5ms [env.py: 1075] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.542, -0.207, -0.081) [env.py: 1079] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.7 deg [env.py: 1082] +05/18 16:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:46 INFO: [Worker 0] Worker 0 house 2 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:47 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.574[m] 103.280[deg] [grasp_sample.py: 596] +05/18 16:27:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:47 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 16:28:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.987s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:48 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.062[m] 18.397[deg] [grasp_sample.py: 596] +05/18 16:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:05 INFO: [Worker 0] Worker 0 house 2 episode 65 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:29:05 INFO: [Worker 0] [PROFILE] Episode 65 house 2 success=False episode_total=0.61s: + episode_total: mean=40.54s, total=81.08s, count=2, min=2277.9ms, max=78800.3ms + sensor_polling: mean=212.3ms, total=63.68s, count=300, min=192.0ms, max=420.7ms + physics_step: mean=14.2ms, total=4.25s, count=300, min=11.0ms, max=30.1ms + task_sampling: mean=304.3ms, total=608.6ms, count=2, min=293.1ms, max=315.5ms + task_specific_sample: mean=301.3ms, total=602.6ms, count=2, min=289.6ms, max=313.0ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=0.9ms, max=2.4ms + mj_forward_sync: mean=339.9us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=14.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:29:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:29:06 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 16:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096626m [env.py: 870] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.52071407 -0.26189006 -0.09662646] yaw=-123.1deg [env.py: 1019] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.44730664 -0.25992869 -0.09662646] yaw=-126.4deg [env.py: 1019] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01486652 -0.4721145 -0.09662646] yaw=-169.3deg [env.py: 1019] +05/18 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.8ms, total=107.9ms [env.py: 1075] +05/18 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.521, -0.262, -0.097) [env.py: 1079] +05/18 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg [env.py: 1082] +05/18 16:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/18 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:07 INFO: [Worker 0] Worker 0 house 2 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:07 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 16:29:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.186s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:09 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.409[m] 88.991[deg] [grasp_sample.py: 596] +05/18 16:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:14 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.962s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:14 INFO: [Worker 0] Feasible grasp found 173 (originally 58): w/ 0.058[m] 3.137[deg] [grasp_sample.py: 596] +05/18 16:30:15 ERROR: [Worker 0] Worker 0 house 2 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:30:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:30:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:30:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032929m [env.py: 870] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10130753 -1.28670054 -0.03292904] yaw=173.3deg [env.py: 1019] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11011708 -0.51255161 -0.03292904] yaw=-174.4deg [env.py: 1019] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.6ms, total=144.6ms [env.py: 1075] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.101, -1.287, -0.033) [env.py: 1079] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg [env.py: 1082] +05/18 16:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:17 INFO: [Worker 0] Worker 0 house 2 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.631s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:21 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.706[m] 40.993[deg] [grasp_sample.py: 596] +05/18 16:30:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:33 INFO: [Worker 0] Worker 0 house 2 episode 67 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:49 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [pipeline.py: 1174] +05/18 16:31:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_079 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:31:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_079 [save_utils.py: 785] +05/18 16:31:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_079 in 10.49s (batch: 3.46s, save: 7.03s) [pipeline.py: 300] +05/18 16:32:00 INFO: [Worker 0] [PROFILE] Episode 67 house 2 success=True episode_total=0.62s: + episode_total: mean=85.90s, total=171.79s, count=2, min=68762.5ms, max=103028.9ms + sensor_polling: mean=220.0ms, total=117.28s, count=533, min=197.6ms, max=487.2ms + physics_step: mean=14.3ms, total=7.63s, count=533, min=11.6ms, max=21.3ms + save_trajectories: mean=7.03s, total=7.03s, count=1, min=7031.9ms, max=7031.9ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3457.2ms, max=3457.2ms + task_sampling: mean=312.5ms, total=625.0ms, count=2, min=289.2ms, max=335.7ms + task_specific_sample: mean=309.8ms, total=619.6ms, count=2, min=287.2ms, max=332.4ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms + mj_forward_sync: mean=319.3us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=13.3us, 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 16:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:32:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:32:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034011m [env.py: 870] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26100984 -1.16299971 -0.03401058] yaw=168.3deg [env.py: 1019] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.04355849 -0.32113245 -0.03401058] yaw=-165.3deg [env.py: 1019] +05/18 16:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2522308 -0.36524252 -0.03401058] yaw=-120.8deg [env.py: 1019] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms [env.py: 1075] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.261, -1.163, -0.034) [env.py: 1079] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg [env.py: 1082] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 16:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:02 INFO: [Worker 0] Worker 0 house 2 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:02 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.575[m] 115.173[deg] [grasp_sample.py: 596] +05/18 16:32:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:32:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:33:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:16 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.082s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.040[m] 9.138[deg] [grasp_sample.py: 596] +05/18 16:33:17 ERROR: [Worker 0] Worker 0 house 2 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:33:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:19 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:33:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079791m [env.py: 870] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12533131 -1.23126205 -0.0797911 ] yaw=186.1deg [env.py: 1019] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=139.7ms, total=139.7ms [env.py: 1075] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.125, -1.231, -0.080) [env.py: 1079] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.1 deg [env.py: 1082] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:19 INFO: [Worker 0] Worker 0 house 2 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:19 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 16:33:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.702s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:22 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.485[m] 75.367[deg] [grasp_sample.py: 596] +05/18 16:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:33:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:33:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] diff --git a/fridge_m_2house/sim/house_2/chunk_079/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_079/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5895da2ddfef8ff15d0642aa15cddc351091cfa --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_079/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa6171ca283d5e06d110ec60daeb9330d41f1b41ecc689fdff72ac5d62e41f10 +size 1598672330