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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': 30009, + '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': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + '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 15:42:57 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 15:42:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:42:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 15:42:58 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 15:43:01 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 15:43:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:43:01 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 15:43:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:01 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 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059879m [env.py: 870] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00476379 -0.23985132 0.0598795 ] yaw=-171.7deg [env.py: 1019] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08756927 -1.41822455 0.0598795 ] yaw=150.9deg [env.py: 1019] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.9ms, retries=172.6ms, total=187.6ms [env.py: 1075] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.005, -0.240, 0.060) [env.py: 1079] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg [env.py: 1082] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.248m [env.py: 1086] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:01 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:27 INFO: [Worker 0] Warmed up parallel IK solver in 25.402s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.105s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:43:29 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:43:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:43:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:43:30 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 15:43:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078051m [env.py: 870] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26649115 -0.18108631 -0.07805129] yaw=-122.9deg [env.py: 1019] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05794354 -0.37934703 -0.07805129] yaw=-134.9deg [env.py: 1019] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01497929 -0.37161887 -0.07805129] yaw=-173.1deg [env.py: 1019] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=106.0ms, total=106.0ms [env.py: 1075] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.266, -0.181, -0.078) [env.py: 1079] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.9 deg [env.py: 1082] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:31 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:35 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.031s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.575[m] 79.579[deg] [grasp_sample.py: 596] +05/18 15:43:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:43:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:43:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:44:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:45:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:45:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.101s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:10 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.128[m] 37.820[deg] [grasp_sample.py: 596] +05/18 15:45:11 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:45:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:45:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:45:12 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 15:45:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012307m [env.py: 870] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.4102511 -0.27394008 0.01230747] yaw=-123.1deg [env.py: 1019] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06450949 -1.02923256 0.01230747] yaw=190.8deg [env.py: 1019] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.45283915 -0.16717009 0.01230747] yaw=-157.9deg [env.py: 1019] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.4ms, total=127.5ms [env.py: 1075] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.410, -0.274, 0.012) [env.py: 1079] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg [env.py: 1082] +05/18 15:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:13 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:13 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.745s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.545[m] 96.676[deg] [grasp_sample.py: 596] +05/18 15:45:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:47:15 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 15:47:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:47:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:47:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:47:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 15:47:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.32s (batch: 2.89s, save: 8.44s) [pipeline.py: 300] +05/18 15:47:27 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=4.91s: + episode_total: mean=88.94s, total=266.83s, count=3, min=31872.2ms, max=134232.0ms + sensor_polling: mean=307.7ms, total=171.07s, count=556, min=284.0ms, max=548.7ms + physics_step: mean=19.7ms, total=10.95s, count=556, min=13.6ms, max=26.0ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8435.1ms, max=8435.1ms + task_sampling: mean=1.64s, total=4.91s, count=3, min=296.1ms, max=4296.6ms + scene_load: mean=3.90s, total=3.90s, count=1, min=3896.0ms, max=3896.0ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2889.0ms, max=2889.0ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2535.4ms, max=2535.4ms + scene_compile: mean=1.23s, total=1.23s, count=1, min=1232.9ms, max=1232.9ms + task_specific_sample: mean=336.0ms, total=1.01s, count=3, min=293.5ms, max=397.8ms + compile_mujoco: mean=751.2ms, total=751.2ms, count=1, min=751.2ms, max=751.2ms + compile_xml_load: mean=410.0ms, total=410.0ms, count=1, min=410.0ms, max=410.0ms + scene_init: mean=74.7ms, total=74.7ms, count=1, min=74.7ms, max=74.7ms + scene_asset_install: mean=52.7ms, total=52.7ms, count=1, min=52.7ms, max=52.7ms + compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms + compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms + asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms + compile_robot_add: mean=22.2ms, total=22.2ms, count=1, min=22.2ms, max=22.2ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=1.0ms, max=1.3ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=402.5us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=18.3us, 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 15:47:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:47:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097487m [env.py: 870] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07300905 -0.34700753 0.09748691] yaw=-130.6deg [env.py: 1019] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02822715 -0.35214441 0.09748691] yaw=-166.1deg [env.py: 1019] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03783668 -1.3013631 0.09748691] yaw=158.0deg [env.py: 1019] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.4ms, total=131.4ms [env.py: 1075] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.073, -0.347, 0.097) [env.py: 1079] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg [env.py: 1082] +05/18 15:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.128m [env.py: 1086] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:28 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:30 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.117s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:30 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:47:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003826m [env.py: 870] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16614893 -1.14339657 0.00382567] yaw=158.2deg [env.py: 1019] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15034259 -1.13090462 0.00382567] yaw=143.9deg [env.py: 1019] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.15621337 -0.37062988 0.00382567] yaw=-148.4deg [env.py: 1019] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms [env.py: 1075] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -1.143, 0.004) [env.py: 1079] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.2 deg [env.py: 1082] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.271m [env.py: 1086] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:32 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.055s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:34 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:47:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:35 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 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089529m [env.py: 870] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13526624 -0.41000932 0.0895287 ] yaw=-128.5deg [env.py: 1019] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08381006 -1.2692052 0.0895287 ] yaw=159.3deg [env.py: 1019] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.39741869 0.03077645 0.0895287 ] yaw=-126.5deg [env.py: 1019] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.0ms, total=89.0ms [env.py: 1075] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.135, -0.410, 0.090) [env.py: 1079] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg [env.py: 1082] +05/18 15:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:35 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:41 INFO: [Worker 0] Feasibility-checked 86 grasps in 5.036s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:41 INFO: [Worker 0] Feasible grasp found 174 (originally 59): w/ 0.793[m] 78.762[deg] [grasp_sample.py: 596] +05/18 15:47:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:48:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:48:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:00 INFO: [Worker 0] Feasibility-checked 84 grasps in 16.471s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.213[m] 17.133[deg] [grasp_sample.py: 596] +05/18 15:49:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:45 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:49:45 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.87s: + episode_total: mean=44.82s, total=134.47s, count=3, min=2449.6ms, max=129466.8ms + sensor_polling: mean=306.1ms, total=91.83s, count=300, min=287.0ms, max=547.4ms + physics_step: mean=19.4ms, total=5.81s, count=300, min=17.3ms, max=27.1ms + task_sampling: mean=291.5ms, total=874.6ms, count=3, min=268.9ms, max=321.0ms + task_specific_sample: mean=288.8ms, total=866.5ms, count=3, min=266.6ms, max=317.9ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=1.1ms, max=1.9ms + mj_forward_sync: mean=396.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:49:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:49:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:49:46 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 15:49:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062361m [env.py: 870] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0897063 -0.57980408 -0.0623608 ] yaw=-183.1deg [env.py: 1019] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=162.7ms, total=162.8ms [env.py: 1075] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.090, -0.580, -0.062) [env.py: 1079] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.1 deg [env.py: 1082] +05/18 15:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.199m [env.py: 1086] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:46 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:48 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.123s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:49:48 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:49:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:49:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:49:50 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 15:49:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038945m [env.py: 870] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.34593538 -0.16229073 -0.03894488] yaw=-123.4deg [env.py: 1019] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10257508 -0.57281579 -0.03894488] yaw=-140.7deg [env.py: 1019] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.33156887 0.08632687 -0.03894488] yaw=-145.4deg [env.py: 1019] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms [env.py: 1075] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.346, -0.162, -0.039) [env.py: 1079] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg [env.py: 1082] +05/18 15:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:50 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:54 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.964s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:54 INFO: [Worker 0] Feasible grasp found 129 (originally 14): w/ 0.823[m] 103.324[deg] [grasp_sample.py: 596] +05/18 15:49:55 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:49:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:49:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:49:56 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 15:49:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007865m [env.py: 870] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03150894 -1.26695289 0.00786514] yaw=148.9deg [env.py: 1019] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02079298 -1.311493 0.00786514] yaw=130.4deg [env.py: 1019] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07801087 -1.37958125 0.00786514] yaw=137.6deg [env.py: 1019] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.9ms, total=162.0ms [env.py: 1075] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -1.267, 0.008) [env.py: 1079] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.9 deg [env.py: 1082] +05/18 15:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.117m [env.py: 1086] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:56 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:59 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.141s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.611[m] 96.045[deg] [grasp_sample.py: 596] +05/18 15:49:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:50:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:51:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.449s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:51:34 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.577[deg] [grasp_sample.py: 596] +05/18 15:51:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:51:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:51:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:50 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:52:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 15:52:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:52:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:52:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 15:52:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 10.73s (batch: 2.66s, save: 8.07s) [pipeline.py: 300] +05/18 15:52:17 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.00s: + episode_total: mean=49.71s, total=149.13s, count=3, min=2592.9ms, max=141251.8ms + sensor_polling: mean=317.6ms, total=95.29s, count=300, min=297.5ms, max=551.4ms + save_trajectories: mean=8.07s, total=8.07s, count=1, min=8069.2ms, max=8069.2ms + physics_step: mean=19.8ms, total=5.94s, count=300, min=13.2ms, max=24.6ms + save_batch_prep: mean=2.66s, total=2.66s, count=1, min=2659.5ms, max=2659.5ms + task_sampling: mean=332.1ms, total=996.4ms, count=3, min=298.4ms, max=353.4ms + task_specific_sample: mean=329.4ms, total=988.2ms, count=3, min=295.2ms, max=350.7ms + scene_randomize: mean=1.2ms, total=3.5ms, count=3, min=1.1ms, max=1.3ms + mj_forward_sync: mean=397.0us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.7us, 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 15:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:19 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 15:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004700m [env.py: 870] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02594486 -0.45699335 0.00470013] yaw=-133.3deg [env.py: 1019] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18285331 -0.08729096 0.00470013] yaw=-126.2deg [env.py: 1019] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25521218 -0.38197067 0.00470013] yaw=-148.4deg [env.py: 1019] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.5ms, total=132.5ms [env.py: 1075] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.026, -0.457, 0.005) [env.py: 1079] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg [env.py: 1082] +05/18 15:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m [env.py: 1086] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:19 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:21 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.062s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:52:21 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:52:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:22 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 15:52:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002550m [env.py: 870] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.37107721 -0.28111658 -0.00254975] yaw=-149.9deg [env.py: 1019] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09582984 -0.61074214 -0.00254975] yaw=-181.0deg [env.py: 1019] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.21423274 -0.62045105 -0.00254975] yaw=-159.3deg [env.py: 1019] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.2ms, total=97.3ms [env.py: 1075] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.371, -0.281, -0.003) [env.py: 1079] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg [env.py: 1082] +05/18 15:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:23 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.610s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.442[m] 69.086[deg] [grasp_sample.py: 596] +05/18 15:52:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:54:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:54:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.158s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:07 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:54:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:54:09 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 15:54:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081552m [env.py: 870] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22028333 -0.95825546 0.08155171] yaw=186.6deg [env.py: 1019] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01239611 -1.22707728 0.08155171] yaw=138.9deg [env.py: 1019] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00165575 -0.67981567 0.08155171] yaw=-194.7deg [env.py: 1019] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:09 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 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.220, -0.958, 0.082) [env.py: 1079] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.6 deg [env.py: 1082] +05/18 15:54:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:09 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:10 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.435[m] 67.471[deg] [grasp_sample.py: 596] +05/18 15:54:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:54:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:54:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:51 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:56:07 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 15:56:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:56:07 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/18 15:56:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:56:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 15:56:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.38s (batch: 2.94s, save: 8.44s) [pipeline.py: 300] +05/18 15:56:19 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.90s: + episode_total: mean=79.27s, total=237.81s, count=3, min=2537.0ms, max=130161.8ms + sensor_polling: mean=308.9ms, total=176.68s, count=572, min=288.4ms, max=566.5ms + physics_step: mean=20.0ms, total=11.44s, count=572, min=13.9ms, max=23.0ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8440.9ms, max=8440.9ms + save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2937.6ms, max=2937.6ms + task_sampling: mean=301.4ms, total=904.2ms, count=3, min=273.0ms, max=341.6ms + task_specific_sample: mean=298.3ms, total=894.8ms, count=3, min=270.4ms, max=338.1ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.2ms, max=2.2ms + mj_forward_sync: mean=419.6us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:56:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:56:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:56:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:20 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 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060180m [env.py: 870] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.177023 -0.74761728 0.06017962] yaw=-201.9deg [env.py: 1019] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21199274 -0.27258118 0.06017962] yaw=-122.7deg [env.py: 1019] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2028552 -1.01701523 0.06017962] yaw=158.9deg [env.py: 1019] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.7ms [env.py: 1075] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -0.748, 0.060) [env.py: 1079] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.9 deg [env.py: 1082] +05/18 15:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.257m [env.py: 1086] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:21 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.123s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:23 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:56:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:56:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:24 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 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088916m [env.py: 870] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.47595767 -0.09281809 0.08891604] yaw=-146.7deg [env.py: 1019] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08395845 -0.14688369 0.08891604] yaw=-138.6deg [env.py: 1019] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20209779 -0.42606644 0.08891604] yaw=-179.1deg [env.py: 1019] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.6ms, total=64.6ms [env.py: 1075] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.476, -0.093, 0.089) [env.py: 1079] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg [env.py: 1082] +05/18 15:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:24 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:26 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.098s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 124.617[deg] [grasp_sample.py: 596] +05/18 15:56:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:27 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 15:57:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:57:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:57:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:52 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.094s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:52 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 2.330[deg] [grasp_sample.py: 596] +05/18 15:57:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:58:09 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 15:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:58:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:58:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.155s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:58:21 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:58:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071441m [env.py: 870] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.54318809 -0.20021785 0.07144064] yaw=-144.4deg [env.py: 1019] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07078819 -0.95219972 0.07144064] yaw=170.6deg [env.py: 1019] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.2ms [env.py: 1075] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.543, -0.200, 0.071) [env.py: 1079] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg [env.py: 1082] +05/18 15:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:23 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.680[m] 35.936[deg] [grasp_sample.py: 596] +05/18 15:58:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:00:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:05 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.064s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 2.120[deg] [grasp_sample.py: 596] +05/18 16:00:06 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:00:06 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/18 16:00:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:00:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:00:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:00:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014451m [env.py: 870] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18394305 -0.27646807 -0.01445147] yaw=-170.8deg [env.py: 1019] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.8ms, total=164.9ms [env.py: 1075] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.184, -0.276, -0.014) [env.py: 1079] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg [env.py: 1082] +05/18 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:07 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:10 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.104s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.681[m] 65.425[deg] [grasp_sample.py: 596] +05/18 16:00:11 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:00:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:00:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:00:12 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 16:00:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014369m [env.py: 870] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.50758427 -0.18886752 -0.01436864] yaw=-158.3deg [env.py: 1019] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.48130637 -0.08594637 -0.01436864] yaw=-106.9deg [env.py: 1019] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14416278 -0.6155864 -0.01436864] yaw=-159.9deg [env.py: 1019] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.4ms, total=65.5ms [env.py: 1075] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.508, -0.189, -0.014) [env.py: 1079] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg [env.py: 1082] +05/18 16:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:12 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:15 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.048s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:15 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.685[m] 106.038[deg] [grasp_sample.py: 596] +05/18 16:00:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:00:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:01:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:01:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:54 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.123s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.055[m] 10.419[deg] [grasp_sample.py: 596] +05/18 16:01:55 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:01:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:01:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:01:57 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 16:01:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080061m [env.py: 870] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.40371525 -0.27575504 0.08006052] yaw=-133.7deg [env.py: 1019] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.1ms [env.py: 1075] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.404, -0.276, 0.080) [env.py: 1079] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg [env.py: 1082] +05/18 16:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:57 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:59 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.014s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.491[m] 95.438[deg] [grasp_sample.py: 596] +05/18 16:01:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:01:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:01:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:02:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:02:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:03:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:03:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:03:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:44 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.128s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.190[deg] [grasp_sample.py: 596] +05/18 16:03:45 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:46 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 16:03:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:46 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 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044392m [env.py: 870] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.1796729 -1.0838918 0.04439173] yaw=140.1deg [env.py: 1019] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02762659 -1.42015246 0.04439173] yaw=164.5deg [env.py: 1019] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.8ms [env.py: 1075] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.180, -1.084, 0.044) [env.py: 1079] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.1 deg [env.py: 1082] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:47 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:48 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.977s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.812[m] 83.025[deg] [grasp_sample.py: 596] +05/18 16:03:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:03:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:03:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:04:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:26 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:42 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:05:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:05:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.37s (batch: 3.00s, save: 8.37s) [pipeline.py: 300] +05/18 16:05:54 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=2.31s: + episode_total: mean=80.91s, total=566.38s, count=7, min=2618.4ms, max=127834.5ms + sensor_polling: mean=305.2ms, total=431.58s, count=1414, min=274.3ms, max=565.1ms + physics_step: mean=19.4ms, total=27.44s, count=1414, min=13.4ms, max=26.4ms + save_trajectories: mean=8.37s, total=8.37s, count=1, min=8371.9ms, max=8371.9ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2996.5ms, max=2996.5ms + task_sampling: mean=330.4ms, total=2.31s, count=7, min=250.9ms, max=368.9ms + task_specific_sample: mean=327.1ms, total=2.29s, count=7, min=248.2ms, max=364.7ms + scene_randomize: mean=1.6ms, total=11.3ms, count=7, min=1.1ms, max=2.9ms + mj_forward_sync: mean=418.1us, total=2.9ms, count=7, min=0.4ms, max=0.5ms + policy_setup: mean=12.2us, 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 16:05:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:55 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 16:05:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053091m [env.py: 870] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.021069 -0.22249704 -0.05309115] yaw=-125.9deg [env.py: 1019] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09363996 -0.69398406 -0.05309115] yaw=-188.4deg [env.py: 1019] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22863523 -0.08745009 -0.05309115] yaw=-151.5deg [env.py: 1019] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.4ms, total=113.4ms [env.py: 1075] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.021, -0.222, -0.053) [env.py: 1079] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg [env.py: 1082] +05/18 16:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.234m [env.py: 1086] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:56 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:58 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.040s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:05:58 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:05:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010478m [env.py: 870] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42932595 -0.0633974 0.01047789] yaw=-116.8deg [env.py: 1019] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.4ms, total=153.5ms [env.py: 1075] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.429, -0.063, 0.010) [env.py: 1079] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.8 deg [env.py: 1082] +05/18 16:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:59 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:02 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.104s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:06:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.669[m] 106.238[deg] [grasp_sample.py: 596] +05/18 16:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:02 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 16:06:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:07:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:07:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:21 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.107s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:21 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:07:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:07:22 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 16:07:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000116m [env.py: 870] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-5.53685082e-01 -9.25954600e-02 -1.15976784e-04] yaw=-148.8deg [env.py: 1019] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-2.81885068e-01 -4.99598701e-01 -1.15976784e-04] yaw=-183.5deg [env.py: 1019] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 2.05195266e-01 -8.10816838e-01 -1.15976784e-04] yaw=-173.8deg [env.py: 1019] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.5ms, total=141.6ms [env.py: 1075] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.554, -0.093, -0.000) [env.py: 1079] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.8 deg [env.py: 1082] +05/18 16:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:22 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.063s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 96.846[deg] [grasp_sample.py: 596] +05/18 16:07:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:08:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:08:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 90 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:36 INFO: [Worker 0] Feasibility-checked 90 grasps in 2.124s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 55.459[deg] [grasp_sample.py: 596] +05/18 16:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:08:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.816s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:40 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.416[m] 34.767[deg] [grasp_sample.py: 596] +05/18 16:08:41 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:08:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:08:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:08:42 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 16:08:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091916m [env.py: 870] +05/18 16:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08059678 -1.21299521 -0.09191589] yaw=132.8deg [env.py: 1019] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.39163816 -0.16262934 -0.09191589] yaw=-131.7deg [env.py: 1019] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04794809 -0.88361192 -0.09191589] yaw=205.2deg [env.py: 1019] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.0ms, total=139.1ms [env.py: 1075] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.081, -1.213, -0.092) [env.py: 1079] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.8 deg [env.py: 1082] +05/18 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:43 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.138s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 80.300[deg] [grasp_sample.py: 596] +05/18 16:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:09:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:09:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:09 INFO: [Worker 0] Feasibility-checked 86 grasps in 35.123s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:09 INFO: [Worker 0] Feasible grasp found 190 (originally 75): w/ 0.142[m] 155.045[deg] [grasp_sample.py: 596] +05/18 16:10:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:13 INFO: [Worker 0] Feasibility-checked 86 grasps in 53.113s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:13 INFO: [Worker 0] Feasible grasp found 12 (originally 12): w/ 0.179[m] 154.241[deg] [grasp_sample.py: 596] +05/18 16:11:14 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:11:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:11:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:11:15 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 16:11:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063918m [env.py: 870] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 133.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.43305674 0.12147698 -0.06391798] yaw=-115.9deg [env.py: 1019] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.41034445 0.11591063 -0.06391798] yaw=-139.2deg [env.py: 1019] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07284119 -0.35667493 -0.06391798] yaw=-131.6deg [env.py: 1019] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.2ms, total=164.3ms [env.py: 1075] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.433, 0.121, -0.064) [env.py: 1079] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.9 deg [env.py: 1082] +05/18 16:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m [env.py: 1086] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:15 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:17 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.038s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:11:17 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:11:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:11:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:11:19 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 16:11:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:19 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 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011232m [env.py: 870] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.11630443 -0.23366713 0.01123237] yaw=-166.2deg [env.py: 1019] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13843874 -0.85326359 0.01123237] yaw=-169.7deg [env.py: 1019] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09215922 -1.05709044 0.01123237] yaw=185.0deg [env.py: 1019] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.3ms, total=128.4ms [env.py: 1075] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.116, -0.234, 0.011) [env.py: 1079] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg [env.py: 1082] +05/18 16:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.148m [env.py: 1086] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:19 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:21 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.984s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:11:21 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:11:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:11:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:11:22 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 16:11:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085893m [env.py: 870] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 131.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23363678 -0.57279207 0.08589345] yaw=-133.5deg [env.py: 1019] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.60525665 -0.13765421 0.08589345] yaw=-151.2deg [env.py: 1019] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.2ms, total=164.3ms [env.py: 1075] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.234, -0.573, 0.086) [env.py: 1079] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/18 16:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:23 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.523s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 121.828[deg] [grasp_sample.py: 596] +05/18 16:11:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:02 INFO: [Worker 0] Worker 0 house 1 episode 25 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:13:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:13:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:13:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:13:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:13:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:13:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 10.90s (batch: 2.77s, save: 8.13s) [pipeline.py: 300] +05/18 16:13:30 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=2.37s: + episode_total: mean=63.91s, total=447.40s, count=7, min=2410.2ms, max=151106.2ms + sensor_polling: mean=302.7ms, total=250.93s, count=829, min=275.8ms, max=544.7ms + physics_step: mean=19.2ms, total=15.91s, count=829, min=13.2ms, max=28.8ms + save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.2ms, max=8133.2ms + save_batch_prep: mean=2.77s, total=2.77s, count=1, min=2768.6ms, max=2768.6ms + task_sampling: mean=339.2ms, total=2.37s, count=7, min=317.7ms, max=360.3ms + task_specific_sample: mean=335.9ms, total=2.35s, count=7, min=313.7ms, max=356.7ms + scene_randomize: mean=1.6ms, total=11.1ms, count=7, min=1.1ms, max=2.8ms + mj_forward_sync: mean=411.8us, total=2.9ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, 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 16:13:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:13:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:13:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:31 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 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015871m [env.py: 870] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06797593 -0.15533603 -0.01587144] yaw=-123.1deg [env.py: 1019] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16854859 0.05274004 -0.01587144] yaw=-113.4deg [env.py: 1019] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.04034545 -0.74030846 -0.01587144] yaw=-181.8deg [env.py: 1019] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.5ms, total=121.5ms [env.py: 1075] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -0.155, -0.016) [env.py: 1079] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg [env.py: 1082] +05/18 16:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.232m [env.py: 1086] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:32 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.102s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:13:34 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:13:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:13:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:13:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:35 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 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084240m [env.py: 870] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10174912 -0.61930315 0.08424046] yaw=-182.9deg [env.py: 1019] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11522866 -0.8130472 0.08424046] yaw=-204.0deg [env.py: 1019] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.02044538 -0.98448987 0.08424046] yaw=154.5deg [env.py: 1019] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms [env.py: 1075] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.102, -0.619, 0.084) [env.py: 1079] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg [env.py: 1082] +05/18 16:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:35 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:37 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.197s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.692[m] 90.798[deg] [grasp_sample.py: 596] +05/18 16:13:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:37 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 16:14:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:18 INFO: [Worker 0] Worker 0 house 1 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:15:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:15:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:15:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:15:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:15:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:15:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 10.96s (batch: 2.73s, save: 8.23s) [pipeline.py: 300] +05/18 16:15:46 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.61s: + episode_total: mean=66.72s, total=133.45s, count=2, min=2543.7ms, max=130906.2ms + sensor_polling: mean=309.6ms, total=92.87s, count=300, min=296.7ms, max=535.7ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8230.2ms, max=8230.2ms + physics_step: mean=19.3ms, total=5.78s, count=300, min=14.0ms, max=26.0ms + save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2726.2ms, max=2726.2ms + task_sampling: mean=307.2ms, total=614.5ms, count=2, min=296.2ms, max=318.3ms + task_specific_sample: mean=303.9ms, total=607.7ms, count=2, min=293.3ms, max=314.4ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=399.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:15:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:15:47 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 16:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028442m [env.py: 870] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01167692 -0.51368934 0.02844168] yaw=-180.9deg [env.py: 1019] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11465867 -0.53609611 0.02844168] yaw=-161.2deg [env.py: 1019] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11393227 -0.74277962 0.02844168] yaw=-192.6deg [env.py: 1019] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.2ms, total=99.3ms [env.py: 1075] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.012, -0.514, 0.028) [env.py: 1079] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg [env.py: 1082] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.142m [env.py: 1086] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:47 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:47 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 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:50 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.092s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:50 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:15:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:15:51 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 16:15:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:51 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 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059585m [env.py: 870] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14244319 -1.30201114 0.05958543] yaw=175.5deg [env.py: 1019] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11901635 -0.96018518 0.05958543] yaw=176.8deg [env.py: 1019] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.1ms, total=160.1ms [env.py: 1075] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.142, -1.302, 0.060) [env.py: 1079] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg [env.py: 1082] +05/18 16:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:51 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:53 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.151s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 91.558[deg] [grasp_sample.py: 596] +05/18 16:15:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:16:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:16:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:35 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:17:52 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:17:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:17:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:18:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:18:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:18:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 10.89s (batch: 2.67s, save: 8.22s) [pipeline.py: 300] +05/18 16:18:03 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.66s: + episode_total: mean=67.47s, total=134.94s, count=2, min=2522.4ms, max=132415.0ms + sensor_polling: mean=311.7ms, total=93.52s, count=300, min=296.6ms, max=559.5ms + save_trajectories: mean=8.22s, total=8.22s, count=1, min=8221.4ms, max=8221.4ms + physics_step: mean=19.4ms, total=5.82s, count=300, min=13.9ms, max=21.9ms + save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2668.5ms, max=2668.5ms + task_sampling: mean=329.2ms, total=658.3ms, count=2, min=310.0ms, max=348.3ms + task_specific_sample: mean=326.1ms, total=652.2ms, count=2, min=306.8ms, max=345.5ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms + mj_forward_sync: mean=412.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, 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 16:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:18:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:18:04 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 16:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030858m [env.py: 870] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03511487 -0.43049065 0.03085849] yaw=-131.9deg [env.py: 1019] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16271694 -0.47019764 0.03085849] yaw=-175.6deg [env.py: 1019] +05/18 16:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.2ms [env.py: 1075] +05/18 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.035, -0.430, 0.031) [env.py: 1079] +05/18 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg [env.py: 1082] +05/18 16:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.127m [env.py: 1086] +05/18 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:05 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.031s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:18:07 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:18:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:18:08 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 16:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071181m [env.py: 870] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07199703 -0.85537758 -0.07118115] yaw=-192.7deg [env.py: 1019] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.08623621 -0.18796521 -0.07118115] yaw=-118.1deg [env.py: 1019] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.4ms [env.py: 1075] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.072, -0.855, -0.071) [env.py: 1079] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.7 deg [env.py: 1082] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:08 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:09 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.510s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:18:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.447[m] 82.742[deg] [grasp_sample.py: 596] +05/18 16:18:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:18:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:18:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:10 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 16:18:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:51 INFO: [Worker 0] Worker 0 house 1 episode 31 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:20:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:20:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.07s (batch: 2.67s, save: 8.40s) [pipeline.py: 300] +05/18 16:20:19 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.72s: + episode_total: mean=66.85s, total=133.70s, count=2, min=2522.0ms, max=131179.2ms + sensor_polling: mean=311.2ms, total=93.36s, count=300, min=291.6ms, max=547.7ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8401.0ms, max=8401.0ms + physics_step: mean=20.3ms, total=6.09s, count=300, min=13.2ms, max=23.5ms + save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2666.0ms, max=2666.0ms + task_sampling: mean=357.9ms, total=715.8ms, count=2, min=346.8ms, max=369.0ms + task_specific_sample: mean=354.5ms, total=708.9ms, count=2, min=344.0ms, max=364.9ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=404.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, 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 16:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:20:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:20:21 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 16:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003716m [env.py: 870] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.45276215 -0.23394337 0.00371643] yaw=-151.5deg [env.py: 1019] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.39729201 -0.3085111 0.00371643] yaw=-164.3deg [env.py: 1019] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms [env.py: 1075] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.453, -0.234, 0.004) [env.py: 1079] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg [env.py: 1082] +05/18 16:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:21 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.120s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.554[m] 77.701[deg] [grasp_sample.py: 596] +05/18 16:20:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:22:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:22:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:03 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.155s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.859[deg] [grasp_sample.py: 596] +05/18 16:22:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:18 INFO: [Worker 0] Worker 0 house 1 episode 32 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:22:35 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:22:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:22:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:22:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:22:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:22:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.12s (batch: 2.61s, save: 8.51s) [pipeline.py: 300] +05/18 16:22:47 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.37s: + episode_total: mean=146.21s, total=146.21s, count=1, min=146207.1ms, max=146207.1ms + sensor_polling: mean=311.9ms, total=93.57s, count=300, min=290.9ms, max=547.8ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8510.4ms, max=8510.4ms + physics_step: mean=19.6ms, total=5.89s, count=300, min=13.9ms, max=23.1ms + save_batch_prep: mean=2.61s, total=2.61s, count=1, min=2613.2ms, max=2613.2ms + task_sampling: mean=371.2ms, total=371.2ms, count=1, min=371.2ms, max=371.2ms + task_specific_sample: mean=367.3ms, total=367.3ms, count=1, min=367.3ms, max=367.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=401.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:22:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:22:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:22:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:48 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 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076062m [env.py: 870] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21053781 -1.04654119 -0.0760623 ] yaw=143.3deg [env.py: 1019] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06118767 -1.02316215 -0.0760623 ] yaw=156.4deg [env.py: 1019] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08019471 -1.06212378 -0.0760623 ] yaw=189.0deg [env.py: 1019] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.7ms, total=112.7ms [env.py: 1075] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.211, -1.047, -0.076) [env.py: 1079] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.3 deg [env.py: 1082] +05/18 16:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:48 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.561s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:49 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.665[m] 117.272[deg] [grasp_sample.py: 596] +05/18 16:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:23:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:23:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:32 INFO: [Worker 0] Worker 0 house 1 episode 33 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:24:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:25:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:25:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:25:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 2.65s, save: 8.66s) [pipeline.py: 300] +05/18 16:25:01 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.33s: + episode_total: mean=132.86s, total=132.86s, count=1, min=132862.7ms, max=132862.7ms + sensor_polling: mean=314.0ms, total=94.21s, count=300, min=296.3ms, max=522.6ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8655.3ms, max=8655.3ms + physics_step: mean=19.8ms, total=5.93s, count=300, min=14.0ms, max=25.7ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2653.1ms, max=2653.1ms + task_sampling: mean=327.5ms, total=327.5ms, count=1, min=327.5ms, max=327.5ms + task_specific_sample: mean=323.4ms, total=323.4ms, count=1, min=323.4ms, max=323.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=437.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:25:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:25:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:25:02 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 16:25:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025326m [env.py: 870] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.49037185 -0.21375133 -0.0253261 ] yaw=-117.3deg [env.py: 1019] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13109659 -0.6699265 -0.0253261 ] yaw=-183.0deg [env.py: 1019] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.11255073 -0.43084684 -0.0253261 ] yaw=-177.6deg [env.py: 1019] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.7ms, total=119.7ms [env.py: 1075] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.490, -0.214, -0.025) [env.py: 1079] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.3 deg [env.py: 1082] +05/18 16:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:02 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:04 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.467s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.583[m] 82.126[deg] [grasp_sample.py: 596] +05/18 16:25:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:25:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:26:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:26:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:46 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.126s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.903[deg] [grasp_sample.py: 596] +05/18 16:26:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:53 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:27:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:27:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:27:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:27:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:27:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:27:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.24s (batch: 2.77s, save: 8.46s) [pipeline.py: 300] +05/18 16:27:21 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.34s: + episode_total: mean=139.18s, total=139.18s, count=1, min=139184.7ms, max=139184.7ms + sensor_polling: mean=303.7ms, total=91.10s, count=300, min=286.0ms, max=543.9ms + save_trajectories: mean=8.46s, total=8.46s, count=1, min=8464.8ms, max=8464.8ms + physics_step: mean=19.6ms, total=5.87s, count=300, min=14.3ms, max=28.2ms + save_batch_prep: mean=2.77s, total=2.77s, count=1, min=2774.9ms, max=2774.9ms + task_sampling: mean=336.0ms, total=336.0ms, count=1, min=336.0ms, max=336.0ms + task_specific_sample: mean=332.2ms, total=332.2ms, count=1, min=332.2ms, max=332.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=448.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:27:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:27:22 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 16:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094154m [env.py: 870] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03915537 -0.65956568 -0.09415384] yaw=-161.2deg [env.py: 1019] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.34863898 -0.23396987 -0.09415384] yaw=-165.4deg [env.py: 1019] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04011534 -0.61728938 -0.09415384] yaw=-162.1deg [env.py: 1019] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms [env.py: 1075] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.039, -0.660, -0.094) [env.py: 1079] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg [env.py: 1082] +05/18 16:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:23 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:25 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.148s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.774[m] 79.658[deg] [grasp_sample.py: 596] +05/18 16:27:26 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:27:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:27:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:27:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012589m [env.py: 870] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.44203962 -0.2048632 0.0125886 ] yaw=-156.0deg [env.py: 1019] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.01248095 -0.93384044 0.0125886 ] yaw=187.7deg [env.py: 1019] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.2ms [env.py: 1075] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.442, -0.205, 0.013) [env.py: 1079] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg [env.py: 1082] +05/18 16:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:27 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:30 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.086s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 85.221[deg] [grasp_sample.py: 596] +05/18 16:27:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:01 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.137s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.558[deg] [grasp_sample.py: 596] +05/18 16:29:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:20 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:29:37 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:29:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:29:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:29:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:29:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:29:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.28s (batch: 2.65s, save: 8.62s) [pipeline.py: 300] +05/18 16:29:49 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.66s: + episode_total: mean=72.53s, total=145.05s, count=2, min=3513.7ms, max=141540.7ms + sensor_polling: mean=308.4ms, total=92.52s, count=300, min=284.2ms, max=556.9ms + save_trajectories: mean=8.62s, total=8.62s, count=1, min=8625.0ms, max=8625.0ms + physics_step: mean=19.5ms, total=5.84s, count=300, min=14.0ms, max=24.5ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2654.2ms, max=2654.2ms + task_sampling: mean=328.7ms, total=657.4ms, count=2, min=313.8ms, max=343.6ms + task_specific_sample: mean=325.3ms, total=650.6ms, count=2, min=309.9ms, max=340.7ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms + mj_forward_sync: mean=417.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:29:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:29:50 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 16:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081541m [env.py: 870] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.38232349 -0.34779647 0.08154098] yaw=-160.1deg [env.py: 1019] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.42545673 0.03805554 0.08154098] yaw=-116.1deg [env.py: 1019] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.2ms, total=172.3ms [env.py: 1075] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.382, -0.348, 0.082) [env.py: 1079] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg [env.py: 1082] +05/18 16:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:50 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.880s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.674[m] 77.291[deg] [grasp_sample.py: 596] +05/18 16:29:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:52 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 16:30:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:33 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:50 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [pipeline.py: 1174] +05/18 16:31:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:32:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:32:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_009 [save_utils.py: 785] +05/18 16:32:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.10s (batch: 2.65s, save: 8.45s) [pipeline.py: 300] +05/18 16:32:01 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.38s: + episode_total: mean=131.34s, total=131.34s, count=1, min=131338.4ms, max=131338.4ms + sensor_polling: mean=307.9ms, total=92.37s, count=300, min=292.8ms, max=506.4ms + save_trajectories: mean=8.45s, total=8.45s, count=1, min=8450.7ms, max=8450.7ms + physics_step: mean=19.6ms, total=5.89s, count=300, min=14.0ms, max=22.0ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2647.6ms, max=2647.6ms + task_sampling: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms + task_specific_sample: mean=379.7ms, total=379.7ms, count=1, min=379.7ms, max=379.7ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=442.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:32:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +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 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:02 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 16:32:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004884m [env.py: 870] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05270291 -0.07188873 -0.00488442] yaw=-122.4deg [env.py: 1019] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06167532 -1.1980298 -0.00488442] yaw=157.7deg [env.py: 1019] +05/18 16:32:02 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] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.8ms, total=172.8ms [env.py: 1075] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.053, -0.072, -0.005) [env.py: 1079] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg [env.py: 1082] +05/18 16:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.294m [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 16:32:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:03 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:05 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.070s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:05 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:06 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 16:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040698m [env.py: 870] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.34404806 -0.06788728 -0.04069835] yaw=-152.7deg [env.py: 1019] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.8ms [env.py: 1075] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.344, -0.068, -0.041) [env.py: 1079] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg [env.py: 1082] +05/18 16:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:06 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:08 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.055s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:08 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073519m [env.py: 870] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12680847 -1.13949463 0.07351896] yaw=189.0deg [env.py: 1019] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13488302 -0.59932136 0.07351896] yaw=-154.4deg [env.py: 1019] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07820734 -0.24240645 0.07351896] yaw=-169.0deg [env.py: 1019] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.8ms, total=162.9ms [env.py: 1075] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.127, -1.139, 0.074) [env.py: 1079] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.0 deg [env.py: 1082] +05/18 16:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.232m [env.py: 1086] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:10 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:12 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.741s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:12 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:13 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 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044766m [env.py: 870] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05604856 -1.11916176 -0.0447657 ] yaw=160.8deg [env.py: 1019] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.2054601 0.09570244 -0.0447657 ] yaw=-121.8deg [env.py: 1019] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19337912 -0.70317431 -0.0447657 ] yaw=-174.4deg [env.py: 1019] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.8ms, total=169.8ms [env.py: 1075] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.056, -1.119, -0.045) [env.py: 1079] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.8 deg [env.py: 1082] +05/18 16:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:13 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:15 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.167s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.658[m] 100.694[deg] [grasp_sample.py: 596] +05/18 16:32:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:33:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:33:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] diff --git a/fridge_m_2house/sim/house_1/chunk_009/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_1/chunk_009/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2bf7559fbfcb83798315b34f63f286819ef14648 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_009/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb37d193b870e4d8d6c95651d52ef55da76af92fd0720c1b2ad33f9a36205edd +size 1022963520