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https://git-lfs.github.com/spec/v1 +oid sha256:21decd00365c5c54f387f72d163471ebf7c5557904281ef38882b475510741b0 +size 409177 diff --git a/fridge_m_0.7_pd/chunk_014/running_log.log b/fridge_m_0.7_pd/chunk_014/running_log.log index 52de32eb41f4f6afa000ba0aa6cd577ea19e6a07..2be814c9722c424bebb27a7a470246c3c9daf6f7 100644 --- a/fridge_m_0.7_pd/chunk_014/running_log.log +++ b/fridge_m_0.7_pd/chunk_014/running_log.log @@ -4770,3 +4770,1807 @@ 05/12 13:11:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] 05/12 13:11:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] 05/12 13:11:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:11:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:11:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:11:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.83s (batch: 4.68s, save: 11.14s) [pipeline.py: 300] +05/12 13:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:36 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s: + episode_total: mean=227.40s, total=227.40s, count=1, min=227400.3ms, max=227400.3ms + sensor_polling: mean=467.5ms, total=140.24s, count=300, min=406.4ms, max=1004.6ms + save_trajectories: mean=11.14s, total=11.14s, count=1, min=11142.4ms, max=11142.4ms + physics_step: mean=26.4ms, total=7.92s, count=300, min=16.0ms, max=49.4ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4684.8ms, max=4684.8ms + task_sampling: mean=639.5ms, total=639.5ms, count=1, min=639.5ms, max=639.5ms + task_specific_sample: mean=635.4ms, total=635.4ms, count=1, min=635.4ms, max=635.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=473.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:11:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:11:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:11:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002958m [env.py: 870] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70278249 0.05251877 0.00295829] yaw=145.9deg [env.py: 1019] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85720307 0.4069949 0.00295829] yaw=184.2deg [env.py: 1019] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05255306 1.01497869 0.00295829] yaw=-116.6deg [env.py: 1019] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:11:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=403.0ms, total=403.0ms [env.py: 1075] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.053, 0.003) [env.py: 1079] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.9 deg [env.py: 1082] +05/12 13:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:11:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:11:38 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 13:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 13:11:39 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: 179] +05/12 13:11:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:11:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:11:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:11:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.78s (batch: 6.07s, save: 11.72s) [pipeline.py: 300] +05/12 13:11:42 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.57s: + episode_total: mean=193.09s, total=193.09s, count=1, min=193091.8ms, max=193091.8ms + sensor_polling: mean=434.6ms, total=130.38s, count=300, min=378.2ms, max=916.5ms + save_trajectories: mean=11.72s, total=11.72s, count=1, min=11718.4ms, max=11718.4ms + physics_step: mean=27.4ms, total=8.22s, count=300, min=16.9ms, max=42.2ms + save_batch_prep: mean=6.07s, total=6.07s, count=1, min=6065.4ms, max=6065.4ms + task_sampling: mean=570.8ms, total=570.8ms, count=1, min=570.8ms, max=570.8ms + task_specific_sample: mean=566.9ms, total=566.9ms, count=1, min=566.9ms, max=566.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=452.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=40.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:11:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.949s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:11:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.627[m] 85.628[deg] [grasp_sample.py: 539] +05/12 13:11:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:11:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:11:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:11:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:11:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:11:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:11:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:11:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:11:45 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: 256] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074430m [env.py: 870] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:11:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93940351 0.07195875 0.07442956] yaw=147.2deg [env.py: 1019] +05/12 13:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78307817 0.37883614 0.07442956] yaw=157.8deg [env.py: 1019] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87108312 0.55137903 0.07442956] yaw=-197.4deg [env.py: 1019] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:11:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.9ms [env.py: 1075] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.072, 0.074) [env.py: 1079] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg [env.py: 1082] +05/12 13:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:11:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:11:46 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 13:11:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:11:46 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: 179] +05/12 13:11:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:11:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:11:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.246s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:11:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.403[m] 83.922[deg] [grasp_sample.py: 539] +05/12 13:11:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:11:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:11:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:11:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:11:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:11:49 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: 179] +05/12 13:11:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:11:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:11:50 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.731s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:11:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.469[deg] [grasp_sample.py: 539] +05/12 13:11:52 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:11:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:11:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:11:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:11:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:11:55 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: 178] +05/12 13:11:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:11:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042917m [env.py: 870] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:11:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99403298 0.93073867 0.04291702] yaw=-138.7deg [env.py: 1019] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92185779 0.26734241 0.04291702] yaw=164.1deg [env.py: 1019] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84557851 0.4521432 0.04291702] yaw=188.0deg [env.py: 1019] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:11:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=154.1ms, total=154.2ms [env.py: 1075] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.931, 0.043) [env.py: 1079] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg [env.py: 1082] +05/12 13:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:11:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:11:55 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 13:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 13:11:55 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: 179] +05/12 13:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:11:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.360s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:11:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 82.681[deg] [grasp_sample.py: 539] +05/12 13:11:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:11:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:11:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:12:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:12:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:12:26 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: 179] +05/12 13:12:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:12:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 13:12:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:28 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.103s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:12:28 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.929[deg] [grasp_sample.py: 539] +05/12 13:12:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:12:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:12:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:12:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:12:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:12:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:12:51 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:12:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:13:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:13:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:13:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:13:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:13:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:13:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:13:42 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: 179] +05/12 13:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:13:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:13:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:13:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.63s (batch: 5.89s, save: 12.74s) [pipeline.py: 300] +05/12 13:13:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:13:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.105[deg] [grasp_sample.py: 539] +05/12 13:13:43 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s: + episode_total: mean=228.22s, total=228.22s, count=1, min=228220.7ms, max=228220.7ms + sensor_polling: mean=492.3ms, total=147.69s, count=300, min=418.6ms, max=1075.7ms + save_trajectories: mean=12.74s, total=12.74s, count=1, min=12744.9ms, max=12744.9ms + physics_step: mean=26.7ms, total=8.01s, count=300, min=21.3ms, max=41.9ms + save_batch_prep: mean=5.89s, total=5.89s, count=1, min=5885.2ms, max=5885.2ms + task_sampling: mean=488.4ms, total=488.4ms, count=1, min=488.4ms, max=488.4ms + task_specific_sample: mean=484.0ms, total=484.0ms, count=1, min=484.0ms, max=484.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.1us, 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] +05/12 13:13:44 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:13:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:13:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:13:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:13:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:13:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033493m [env.py: 870] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74873457 0.5255778 0.03349347] yaw=-210.4deg [env.py: 1019] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74452068 0.00586398 0.03349347] yaw=171.5deg [env.py: 1019] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81822304 0.56641768 0.03349347] yaw=-141.4deg [env.py: 1019] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:13:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.2ms [env.py: 1075] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.526, 0.033) [env.py: 1079] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -210.4 deg [env.py: 1082] +05/12 13:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:13:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:13:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 13:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 13:13:46 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: 179] +05/12 13:13:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:13:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:13:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:13:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:13:47 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: 178] +05/12 13:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:13:47 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: 256] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008171m [env.py: 870] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72861314 0.66289373 0.0081715 ] yaw=-185.9deg [env.py: 1019] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83974237 0.13667589 0.0081715 ] yaw=135.0deg [env.py: 1019] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65383119 0.64826257 0.0081715 ] yaw=-193.2deg [env.py: 1019] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms [env.py: 1075] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.663, 0.008) [env.py: 1079] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.9 deg [env.py: 1082] +05/12 13:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:13:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:13:47 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 13:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 13:13:47 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: 179] +05/12 13:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:13:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.551[m] 83.327[deg] [grasp_sample.py: 539] +05/12 13:13:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:13:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:13:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:13:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:13:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.662s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:13:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.638[m] 99.508[deg] [grasp_sample.py: 539] +05/12 13:13:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:13:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:13:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:13:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:14:27 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:14:28 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:14:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:14:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:14:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:14:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:14:57 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:14:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:14:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:14:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:14:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:14:57 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/12 13:15:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:15:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:15:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:15:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:15:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.77s (batch: 4.73s, save: 12.03s) [pipeline.py: 300] +05/12 13:15:14 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.73s: + episode_total: mean=216.39s, total=216.39s, count=1, min=216390.4ms, max=216390.4ms + sensor_polling: mean=491.1ms, total=147.33s, count=300, min=409.2ms, max=1052.5ms + save_trajectories: mean=12.03s, total=12.03s, count=1, min=12032.4ms, max=12032.4ms + physics_step: mean=28.9ms, total=8.66s, count=300, min=17.4ms, max=68.3ms + save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4734.9ms, max=4734.9ms + task_sampling: mean=725.2ms, total=725.2ms, count=1, min=725.2ms, max=725.2ms + task_specific_sample: mean=721.0ms, total=721.0ms, count=1, min=721.0ms, max=721.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:15:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:15:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:15:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.40s (batch: 5.63s, save: 11.77s) [pipeline.py: 300] +05/12 13:15:15 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.07s: + episode_total: mean=160.43s, total=320.87s, count=2, min=120312.5ms, max=200555.4ms + sensor_polling: mean=474.1ms, total=233.75s, count=493, min=383.1ms, max=1181.9ms + physics_step: mean=28.2ms, total=13.92s, count=493, min=18.2ms, max=101.0ms + save_trajectories: mean=11.77s, total=11.77s, count=1, min=11769.1ms, max=11769.1ms + save_batch_prep: mean=5.63s, total=5.63s, count=1, min=5633.6ms, max=5633.6ms + task_sampling: mean=534.6ms, total=1.07s, count=2, min=531.5ms, max=537.7ms + task_specific_sample: mean=526.7ms, total=1.05s, count=2, min=524.9ms, max=528.5ms + scene_randomize: mean=4.6ms, total=9.2ms, count=2, min=4.3ms, max=4.9ms + mj_forward_sync: mean=536.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=19.1us, 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] +05/12 13:15:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:15:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:15:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:15:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:15:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:15:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:15:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:15:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:15:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:15:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:15:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024158m [env.py: 870] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:15:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.61053272 0.5324402 0.02415781] yaw=-173.3deg [env.py: 1019] +05/12 13:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7676638 0.50759277 0.02415781] yaw=-165.7deg [env.py: 1019] +05/12 13:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:15:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=364.5ms, total=364.5ms [env.py: 1075] +05/12 13:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.611, 0.532, 0.024) [env.py: 1079] +05/12 13:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg [env.py: 1082] +05/12 13:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 13:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:15:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:15:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 13:15:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 13:15:17 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: 179] +05/12 13:15:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:15:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:15:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:15:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:15:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:15:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:15:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:15:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:15:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036431m [env.py: 870] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:15:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97273812 0.91597504 0.03643121] yaw=-185.9deg [env.py: 1019] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03863738 0.96031855 0.03643121] yaw=-116.8deg [env.py: 1019] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:15:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.8ms [env.py: 1075] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.916, 0.036) [env.py: 1079] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.9 deg [env.py: 1082] +05/12 13:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:15:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:15:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 13:15:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.387s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:15:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.696[m] 97.757[deg] [grasp_sample.py: 539] +05/12 13:15:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:15:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 13:15:19 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: 179] +05/12 13:15:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:15:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:15:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:15:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:15:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:15:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:15:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.541[m] 82.866[deg] [grasp_sample.py: 539] +05/12 13:15:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:15:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:15:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:16:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:16:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:16 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:16:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:16:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:16:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:16:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:16:39 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: 179] +05/12 13:16:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:16:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:16:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.106s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:16:41 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.131[m] 0.771[deg] [grasp_sample.py: 539] +05/12 13:16:42 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:16:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:16:45 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:16:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:16:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:16:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:16:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:16:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:16:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:16:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:16:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:16:45 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: 256] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000228m [env.py: 870] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:16:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-8.12302682e-01 4.49972088e-01 2.28124232e-04] yaw=148.2deg [env.py: 1019] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:16:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.5ms [env.py: 1075] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.450, 0.000) [env.py: 1079] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.2 deg [env.py: 1082] +05/12 13:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:16:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:16:46 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 13:16:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 13:16:46 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: 179] +05/12 13:16:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:16:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:16:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.223s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:16:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.558[m] 95.807[deg] [grasp_sample.py: 539] +05/12 13:16:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:16:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:16:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:16:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:17:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:17:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:17:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.92s (batch: 6.05s, save: 12.88s) [pipeline.py: 300] +05/12 13:17:05 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.98s: + episode_total: mean=158.30s, total=316.59s, count=2, min=118767.6ms, max=197826.1ms + sensor_polling: mean=454.8ms, total=231.01s, count=508, min=388.2ms, max=881.7ms + physics_step: mean=28.8ms, total=14.64s, count=508, min=16.9ms, max=39.9ms + save_trajectories: mean=12.88s, total=12.88s, count=1, min=12877.6ms, max=12877.6ms + save_batch_prep: mean=6.05s, total=6.05s, count=1, min=6046.8ms, max=6046.8ms + task_sampling: mean=489.2ms, total=978.4ms, count=2, min=448.1ms, max=530.3ms + task_specific_sample: mean=485.2ms, total=970.5ms, count=2, min=444.4ms, max=526.0ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.8ms + mj_forward_sync: mean=500.4us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:17:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:17:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:17:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:17:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:17:07 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: 178] +05/12 13:17:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:17:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015332m [env.py: 870] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:17:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84819477 1.11647997 0.01533206] yaw=-156.4deg [env.py: 1019] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76579516 0.21326833 0.01533206] yaw=177.6deg [env.py: 1019] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81681547 0.46938992 0.01533206] yaw=191.7deg [env.py: 1019] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:17:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=199.6ms, total=199.7ms [env.py: 1075] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 1.116, 0.015) [env.py: 1079] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg [env.py: 1082] +05/12 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:17:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:17:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 13:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 13:17:08 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: 179] +05/12 13:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:17:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:17:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 84.431[deg] [grasp_sample.py: 539] +05/12 13:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:17:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:17:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:17:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:17:48 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:17:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:17:50 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:17:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:18:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:18:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:18:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:18:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:18:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:18:18 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:18:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:18:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:18:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:18:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:18:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:18:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.73s (batch: 5.61s, save: 11.12s) [pipeline.py: 300] +05/12 13:18:33 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.58s: + episode_total: mean=195.06s, total=195.06s, count=1, min=195058.0ms, max=195058.0ms + sensor_polling: mean=455.9ms, total=136.78s, count=300, min=379.4ms, max=954.7ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11117.1ms, max=11117.1ms + physics_step: mean=28.6ms, total=8.59s, count=300, min=19.0ms, max=37.0ms + save_batch_prep: mean=5.61s, total=5.61s, count=1, min=5609.3ms, max=5609.3ms + task_sampling: mean=577.1ms, total=577.1ms, count=1, min=577.1ms, max=577.1ms + task_specific_sample: mean=572.1ms, total=572.1ms, count=1, min=572.1ms, max=572.1ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=500.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:18:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:18:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:18:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.85s (batch: 4.83s, save: 11.02s) [pipeline.py: 300] +05/12 13:18:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.72s: + episode_total: mean=198.37s, total=198.37s, count=1, min=198366.5ms, max=198366.5ms + sensor_polling: mean=468.3ms, total=140.50s, count=300, min=410.6ms, max=1069.7ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11024.9ms, max=11024.9ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=21.5ms, max=33.9ms + save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4827.9ms, max=4827.9ms + task_sampling: mean=721.7ms, total=721.7ms, count=1, min=721.7ms, max=721.7ms + task_specific_sample: mean=715.8ms, total=715.8ms, count=1, min=715.8ms, max=715.8ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=705.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:18:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:18:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:18:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:18:35 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: 178] +05/12 13:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062554m [env.py: 870] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8076514 0.69372997 0.06255412] yaw=-183.3deg [env.py: 1019] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04295125 1.07708083 0.06255412] yaw=-135.6deg [env.py: 1019] +05/12 13:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94718701 0.88931366 0.06255412] yaw=-115.6deg [env.py: 1019] +05/12 13:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=225.9ms [env.py: 1075] +05/12 13:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.694, 0.063) [env.py: 1079] +05/12 13:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg [env.py: 1082] +05/12 13:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 13:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:18:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:18:36 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 13:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 13:18:36 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: 179] +05/12 13:18:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:18:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:18:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:18:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:18:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:18:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:18:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:18:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:18:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002974m [env.py: 870] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:18:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13096136 1.17224152 0.00297434] yaw=-107.6deg [env.py: 1019] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82381719 1.0897759 0.00297434] yaw=-121.1deg [env.py: 1019] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:18:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=298.1ms, total=298.2ms [env.py: 1075] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.131, 1.172, 0.003) [env.py: 1079] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.6 deg [env.py: 1082] +05/12 13:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:18:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.997s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:18:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.481[m] 83.854[deg] [grasp_sample.py: 539] +05/12 13:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:18:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:18:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 13:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 13:18:37 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: 179] +05/12 13:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:18:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:18:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:18:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.152s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:18:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.532[m] 95.912[deg] [grasp_sample.py: 539] +05/12 13:18:43 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:18:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:18:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:18:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:18:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:18:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:18:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:18:45 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: 256] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009937m [env.py: 870] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:18:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94587824 0.53532776 0.00993677] yaw=-203.4deg [env.py: 1019] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98805597 0.87940765 0.00993677] yaw=-147.6deg [env.py: 1019] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86635051 0.50873941 0.00993677] yaw=-176.2deg [env.py: 1019] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:18:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.0ms, total=166.1ms [env.py: 1075] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.535, 0.010) [env.py: 1079] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -203.4 deg [env.py: 1082] +05/12 13:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m [env.py: 1086] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:18:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:18:45 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 13:18:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 13:18:45 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: 179] +05/12 13:18:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:18:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:18:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:18:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.366[m] 83.864[deg] [grasp_sample.py: 539] +05/12 13:18:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:18:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:18:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:19:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:19:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:19:26 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 13:19:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:19:26 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: 179] +05/12 13:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:19:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:19:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.714s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:19:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:19:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:19:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:19:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:19:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:19:31 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: 178] +05/12 13:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:19:31 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: 256] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011207m [env.py: 870] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71308304 0.69915019 0.01120698] yaw=-178.4deg [env.py: 1019] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83587963 0.52913526 0.01120698] yaw=-161.2deg [env.py: 1019] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11088015 1.01427605 0.01120698] yaw=-163.6deg [env.py: 1019] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=475.8ms, total=475.9ms [env.py: 1075] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.713, 0.699, 0.011) [env.py: 1079] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg [env.py: 1082] +05/12 13:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:19:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:19:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 13:19:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 13:19:32 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: 179] +05/12 13:19:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:19:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:19:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:19:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:19:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 83.112[deg] [grasp_sample.py: 539] +05/12 13:19:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:19:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:19:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:19:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:19:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:19:48 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:20:20 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:20:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:20:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:20:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:20:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:20:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:20:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:20:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:20:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.57s (batch: 7.03s, save: 11.55s) [pipeline.py: 300] +05/12 13:20:39 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.08s: + episode_total: mean=205.53s, total=411.06s, count=2, min=176651.7ms, max=234411.4ms + sensor_polling: mean=461.6ms, total=272.78s, count=591, min=400.0ms, max=1047.7ms + physics_step: mean=27.1ms, total=15.99s, count=591, min=18.1ms, max=41.3ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11545.4ms, max=11545.4ms + save_batch_prep: mean=7.03s, total=7.03s, count=1, min=7026.3ms, max=7026.3ms + task_sampling: mean=540.4ms, total=1.08s, count=2, min=528.0ms, max=552.8ms + task_specific_sample: mean=536.1ms, total=1.07s, count=2, min=523.3ms, max=549.0ms + scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.6ms, max=3.0ms + mj_forward_sync: mean=570.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:20:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:20:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:20:42 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: 178] +05/12 13:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064140m [env.py: 870] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00486945 0.96993576 0.06413952] yaw=-131.1deg [env.py: 1019] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73953269 0.3573083 0.06413952] yaw=172.6deg [env.py: 1019] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88223052 0.26825196 0.06413952] yaw=140.7deg [env.py: 1019] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=319.3ms, total=319.3ms [env.py: 1075] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.005, 0.970, 0.064) [env.py: 1079] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.1 deg [env.py: 1082] +05/12 13:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:20:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:20:42 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 13:20:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 13:20:43 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: 179] +05/12 13:20:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:20:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:20:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:20:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 94.167[deg] [grasp_sample.py: 539] +05/12 13:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:20:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:20:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:21:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:21:19 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:21:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:21:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:21:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:21:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:21:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:21:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:21:48 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:21:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:21:48 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 13:21:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:22:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:22:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:22:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.57s (batch: 5.72s, save: 11.85s) [pipeline.py: 300] +05/12 13:22:04 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s: + episode_total: mean=208.52s, total=208.52s, count=1, min=208523.9ms, max=208523.9ms + sensor_polling: mean=440.2ms, total=132.05s, count=300, min=384.2ms, max=914.1ms + save_trajectories: mean=11.85s, total=11.85s, count=1, min=11851.4ms, max=11851.4ms + physics_step: mean=27.0ms, total=8.11s, count=300, min=19.3ms, max=41.4ms + save_batch_prep: mean=5.72s, total=5.72s, count=1, min=5719.3ms, max=5719.3ms + task_sampling: mean=588.2ms, total=588.2ms, count=1, min=588.2ms, max=588.2ms + task_specific_sample: mean=583.3ms, total=583.3ms, count=1, min=583.3ms, max=583.3ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=605.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:22:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:22:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:22:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.60s (batch: 5.11s, save: 12.48s) [pipeline.py: 300] +05/12 13:22:06 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:22:06 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:22:06 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes [pipeline.py: 1323] +05/12 13:22:06 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4983.43s + House averages: + episode_total: mean=154.26s, total=2776.61s, count=18, min=3882.9ms, max=222618.2ms + sensor_polling: mean=420.9ms, total=1891.73s, count=4495, min=363.2ms, max=1181.9ms + save_trajectories: mean=11.51s, total=115.11s, count=10, min=10881.4ms, max=12516.1ms + physics_step: mean=25.5ms, total=114.62s, count=4495, min=15.1ms, max=140.6ms + save_batch_prep: mean=5.16s, total=51.62s, count=10, min=4133.5ms, max=7032.4ms + task_sampling: mean=789.4ms, total=14.21s, count=18, min=344.2ms, max=4758.7ms + task_specific_sample: mean=565.4ms, total=10.18s, count=18, min=339.9ms, max=817.6ms + scene_load: mean=3.95s, total=3.95s, count=1, min=3945.0ms, max=3945.0ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2444.3ms, max=2444.3ms + scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.4ms, max=1317.4ms + compile_mujoco: mean=897.3ms, total=897.3ms, count=1, min=897.3ms, max=897.3ms + compile_xml_load: mean=321.6ms, total=321.6ms, count=1, min=321.6ms, max=321.6ms + scene_init: mean=126.2ms, total=126.2ms, count=1, min=126.2ms, max=126.2ms + scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_randomize: mean=2.8ms, total=50.2ms, count=18, min=1.3ms, max=5.5ms + asset_install_grasps: mean=38.4ms, total=38.4ms, count=1, min=38.4ms, max=38.4ms + compile_robot_add: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms + mj_forward_sync: mean=502.4us, total=9.0ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 13:22:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 13:22:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4983.43s + Worker averages: + episode_total: mean=154.26s, total=2776.61s, count=18, min=3882.9ms, max=222618.2ms + sensor_polling: mean=420.9ms, total=1891.73s, count=4495, min=363.2ms, max=1181.9ms + save_trajectories: mean=11.51s, total=115.11s, count=10, min=10881.4ms, max=12516.1ms + physics_step: mean=25.5ms, total=114.62s, count=4495, min=15.1ms, max=140.6ms + save_batch_prep: mean=5.16s, total=51.62s, count=10, min=4133.5ms, max=7032.4ms + task_sampling: mean=789.4ms, total=14.21s, count=18, min=344.2ms, max=4758.7ms + task_specific_sample: mean=565.4ms, total=10.18s, count=18, min=339.9ms, max=817.6ms + scene_load: mean=3.95s, total=3.95s, count=1, min=3945.0ms, max=3945.0ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2444.3ms, max=2444.3ms + scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.4ms, max=1317.4ms + compile_mujoco: mean=897.3ms, total=897.3ms, count=1, min=897.3ms, max=897.3ms + compile_xml_load: mean=321.6ms, total=321.6ms, count=1, min=321.6ms, max=321.6ms + scene_init: mean=126.2ms, total=126.2ms, count=1, min=126.2ms, max=126.2ms + scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + scene_randomize: mean=2.8ms, total=50.2ms, count=18, min=1.3ms, max=5.5ms + asset_install_grasps: mean=38.4ms, total=38.4ms, count=1, min=38.4ms, max=38.4ms + compile_robot_add: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms + mj_forward_sync: mean=502.4us, total=9.0ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 13:22:06 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.13s: + episode_total: mean=103.97s, total=207.94s, count=2, min=6302.9ms, max=201635.9ms + sensor_polling: mean=471.6ms, total=137.71s, count=292, min=413.0ms, max=1054.6ms + save_trajectories: mean=12.48s, total=12.48s, count=1, min=12483.5ms, max=12483.5ms + physics_step: mean=27.9ms, total=8.15s, count=292, min=18.4ms, max=63.3ms + save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5113.2ms, max=5113.2ms + task_sampling: mean=563.6ms, total=1.13s, count=2, min=495.3ms, max=631.8ms + task_specific_sample: mean=553.3ms, total=1.11s, count=2, min=479.1ms, max=627.4ms + scene_randomize: mean=7.9ms, total=15.8ms, count=2, min=2.8ms, max=13.0ms + mj_forward_sync: mean=513.6us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:22:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:22:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:22:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:22:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:22:08 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: 178] +05/12 13:22:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:22:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030161m [env.py: 870] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:22:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63976259 0.53464334 0.03016103] yaw=-140.7deg [env.py: 1019] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94240382 0.6552989 0.03016103] yaw=-190.3deg [env.py: 1019] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:22:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=293.1ms, total=293.2ms [env.py: 1075] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.640, 0.535, 0.030) [env.py: 1079] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg [env.py: 1082] +05/12 13:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:22:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:22:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 13:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 13:22:09 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: 179] +05/12 13:22:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:22:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:22:11 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 13:22:11 INFO: Success count: 10, Total count: 11 [pipeline.py: 1491] +05/12 13:22:11 INFO: Success rate: 90.91% [pipeline.py: 1492] +05/12 13:22:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.806s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:22:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.726[m] 85.851[deg] [grasp_sample.py: 539] +05/12 13:22:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:22:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:22:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:22:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:22:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:22:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:22:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:22:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:22:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.30s (batch: 5.24s, save: 11.05s) [pipeline.py: 300] +05/12 13:22:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s: + episode_total: mean=168.39s, total=336.79s, count=2, min=141571.2ms, max=195218.1ms + sensor_polling: mean=439.9ms, total=252.95s, count=575, min=368.6ms, max=873.0ms + physics_step: mean=26.8ms, total=15.39s, count=575, min=19.3ms, max=67.8ms + save_trajectories: mean=11.05s, total=11.05s, count=1, min=11052.4ms, max=11052.4ms + save_batch_prep: mean=5.24s, total=5.24s, count=1, min=5244.2ms, max=5244.2ms + task_sampling: mean=644.4ms, total=1.29s, count=2, min=523.3ms, max=765.6ms + task_specific_sample: mean=640.5ms, total=1.28s, count=2, min=518.7ms, max=762.3ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms + mj_forward_sync: mean=531.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=25.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:22:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:22:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:22:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:22:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:22:48 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: 178] +05/12 13:22:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:22:48 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: 256] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009643m [env.py: 870] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:22:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68592762 0.47075872 0.00964307] yaw=189.4deg [env.py: 1019] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76872528 0.63269433 0.00964307] yaw=-163.9deg [env.py: 1019] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0299596 1.12543871 0.00964307] yaw=-164.2deg [env.py: 1019] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms [env.py: 1075] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.471, 0.010) [env.py: 1079] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.4 deg [env.py: 1082] +05/12 13:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:22:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:22:49 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 13:22:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:22:49 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: 179] +05/12 13:22:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:22:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:22:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:22:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 100.814[deg] [grasp_sample.py: 539] +05/12 13:22:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:22:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:22:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:22:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:23:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:23:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:23:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:23:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:23:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:23:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:23:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:23:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:23:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:24:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:24:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:24:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:24:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.94s (batch: 5.67s, save: 13.27s) [pipeline.py: 300] +05/12 13:24:02 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s: + episode_total: mean=200.48s, total=200.48s, count=1, min=200482.5ms, max=200482.5ms + sensor_polling: mean=457.6ms, total=137.28s, count=300, min=405.9ms, max=959.2ms + save_trajectories: mean=13.27s, total=13.27s, count=1, min=13268.8ms, max=13268.8ms + physics_step: mean=25.5ms, total=7.64s, count=300, min=16.8ms, max=57.1ms + save_batch_prep: mean=5.67s, total=5.67s, count=1, min=5669.4ms, max=5669.4ms + task_sampling: mean=689.0ms, total=689.0ms, count=1, min=689.0ms, max=689.0ms + task_specific_sample: mean=684.5ms, total=684.5ms, count=1, min=684.5ms, max=684.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=463.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:24:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:24:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:24:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:24:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:24:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:24:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:24:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028527m [env.py: 870] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:24:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70596151 0.27915653 0.02852699] yaw=187.3deg [env.py: 1019] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03536056 1.278522 0.02852699] yaw=-146.7deg [env.py: 1019] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0587877 0.90541865 0.02852699] yaw=-183.7deg [env.py: 1019] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:24:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=325.8ms, total=325.9ms [env.py: 1075] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.279, 0.029) [env.py: 1079] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.3 deg [env.py: 1082] +05/12 13:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:24:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:24:05 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 13:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 13:24:05 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: 179] +05/12 13:24:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:24:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.738s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:24:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 91.937[deg] [grasp_sample.py: 539] +05/12 13:24:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:24:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:24:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:24:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:24:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:25:06 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:25:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:25:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:25:06 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:25:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:25:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:25:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:25:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:25:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.90s (batch: 4.96s, save: 10.95s) [pipeline.py: 300] +05/12 13:25:23 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.65s: + episode_total: mean=194.41s, total=194.41s, count=1, min=194411.8ms, max=194411.8ms + sensor_polling: mean=439.5ms, total=131.86s, count=300, min=396.1ms, max=1020.0ms + save_trajectories: mean=10.95s, total=10.95s, count=1, min=10945.1ms, max=10945.1ms + physics_step: mean=24.9ms, total=7.46s, count=300, min=17.7ms, max=36.0ms + save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4958.1ms, max=4958.1ms + task_sampling: mean=652.5ms, total=652.5ms, count=1, min=652.5ms, max=652.5ms + task_specific_sample: mean=647.7ms, total=647.7ms, count=1, min=647.7ms, max=647.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=630.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:25:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:25:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:25:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:25:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:25:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:25:24 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: 178] +05/12 13:25:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:25:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094914m [env.py: 870] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:25:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85654397 0.87760376 0.09491351] yaw=-123.5deg [env.py: 1019] +05/12 13:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:25:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=307.0ms, total=307.1ms [env.py: 1075] +05/12 13:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.878, 0.095) [env.py: 1079] +05/12 13:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg [env.py: 1082] +05/12 13:25:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 13:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:25:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:25:25 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 13:25:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 13:25:25 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: 179] +05/12 13:25:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:25:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:25:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.038s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:25:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 83.469[deg] [grasp_sample.py: 539] +05/12 13:25:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:25:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:25:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:25:33 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:25:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:25:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:25:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:25:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:25:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.76s (batch: 5.29s, save: 11.46s) [pipeline.py: 300] +05/12 13:25:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s: + episode_total: mean=182.87s, total=182.87s, count=1, min=182874.9ms, max=182874.9ms + sensor_polling: mean=419.7ms, total=125.92s, count=300, min=378.9ms, max=821.5ms + save_trajectories: mean=11.46s, total=11.46s, count=1, min=11460.9ms, max=11460.9ms + physics_step: mean=24.7ms, total=7.40s, count=300, min=18.9ms, max=43.4ms + save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5294.5ms, max=5294.5ms + task_sampling: mean=453.7ms, total=453.7ms, count=1, min=453.7ms, max=453.7ms + task_specific_sample: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=597.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=29.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:25:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:25:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:25:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:25:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:25:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:25:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:25:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061266m [env.py: 870] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:25:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91687435 1.13967196 0.06126568] yaw=-133.2deg [env.py: 1019] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89702159 0.32678292 0.06126568] yaw=130.0deg [env.py: 1019] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88776437 1.21557216 0.06126568] yaw=-150.1deg [env.py: 1019] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms [env.py: 1075] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.917, 1.140, 0.061) [env.py: 1079] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.2 deg [env.py: 1082] +05/12 13:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 13:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:25:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:25:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 13:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 13:25:54 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: 179] +05/12 13:25:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:25:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:25:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.379s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:25:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.624[m] 94.802[deg] [grasp_sample.py: 539] +05/12 13:26:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:26:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:26:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:26:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:26:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:26:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:26:34 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:26:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:26:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:27:01 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:27:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:27:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:27:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:27:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:27:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:27:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:27:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.55s (batch: 4.85s, save: 10.70s) [pipeline.py: 300] +05/12 13:27:18 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.68s: + episode_total: mean=193.24s, total=193.24s, count=1, min=193242.7ms, max=193242.7ms + sensor_polling: mean=451.8ms, total=135.54s, count=300, min=407.7ms, max=859.0ms + save_trajectories: mean=10.70s, total=10.70s, count=1, min=10701.1ms, max=10701.1ms + physics_step: mean=25.2ms, total=7.55s, count=300, min=18.7ms, max=38.4ms + save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4846.1ms, max=4846.1ms + task_sampling: mean=677.6ms, total=677.6ms, count=1, min=677.6ms, max=677.6ms + task_specific_sample: mean=671.9ms, total=671.9ms, count=1, min=671.9ms, max=671.9ms + scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=754.6us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:27:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:27:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:27:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:27:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:27:20 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: 178] +05/12 13:27:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:27:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059113m [env.py: 870] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:27:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01683536 1.09462226 0.05911283] yaw=-115.2deg [env.py: 1019] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80530334 0.27433754 0.05911283] yaw=155.8deg [env.py: 1019] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:27:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=375.8ms, total=375.9ms [env.py: 1075] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 1.095, 0.059) [env.py: 1079] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.2 deg [env.py: 1082] +05/12 13:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:27:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:27:21 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 13:27:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 13:27:21 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: 179] +05/12 13:27:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:27:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:27:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.142s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:27:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.557[m] 96.369[deg] [grasp_sample.py: 539] +05/12 13:27:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:27:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:27:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:27:54 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:28:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:28:17 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: 179] +05/12 13:28:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:28:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:28:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.758s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:28:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 1.661[deg] [grasp_sample.py: 539] +05/12 13:28:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:28:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:28:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:28:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:28:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:24 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:28:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:28:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:28:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:28:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:28:35 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: 179] +05/12 13:28:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:28:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/12 13:28:39 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:28:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.196[m] 1.036[deg] [grasp_sample.py: 539] +05/12 13:28:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:28:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:28:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:28:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:28:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:28:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.43s (batch: 5.06s, save: 11.37s) [pipeline.py: 300] +05/12 13:28:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.64s: + episode_total: mean=196.95s, total=196.95s, count=1, min=196945.6ms, max=196945.6ms + sensor_polling: mean=457.9ms, total=137.38s, count=300, min=406.0ms, max=1125.1ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11372.7ms, max=11372.7ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=21.5ms, max=52.0ms + save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5060.4ms, max=5060.4ms + task_sampling: mean=637.1ms, total=637.1ms, count=1, min=637.1ms, max=637.1ms + task_specific_sample: mean=633.0ms, total=633.0ms, count=1, min=633.0ms, max=633.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=448.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, 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] +05/12 13:28:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:28:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:28:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:28:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:28:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:28:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:28:43 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: 256] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081999m [env.py: 870] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:28:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.960829 1.20559464 0.08199917] yaw=-116.9deg [env.py: 1019] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80548756 0.10110784 0.08199917] yaw=134.6deg [env.py: 1019] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=371.2ms, total=371.2ms [env.py: 1075] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.206, 0.082) [env.py: 1079] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.9 deg [env.py: 1082] +05/12 13:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:28:43 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 13:28:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:28:44 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: 179] +05/12 13:28:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:28:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.918s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:28:50 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.650[m] 98.654[deg] [grasp_sample.py: 539] +05/12 13:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:28:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:28:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:28:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:28:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:29:20 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:29:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:29:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:29:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:29:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:29:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.88s (batch: 5.13s, save: 11.75s) [pipeline.py: 300] +05/12 13:29:37 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s: + episode_total: mean=224.09s, total=224.09s, count=1, min=224091.4ms, max=224091.4ms + sensor_polling: mean=422.7ms, total=126.80s, count=300, min=374.3ms, max=888.5ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11752.4ms, max=11752.4ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=16.8ms, max=66.8ms + save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5126.4ms, max=5126.4ms + task_sampling: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms + task_specific_sample: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:29:40 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:29:40 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:29:40 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes [pipeline.py: 1323] +05/12 13:29:40 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5807.41s + House averages: + episode_total: mean=179.11s, total=3224.05s, count=18, min=118767.6ms, max=241816.9ms + sensor_polling: mean=418.3ms, total=2181.71s, count=5216, min=368.6ms, max=965.3ms + save_trajectories: mean=11.51s, total=161.18s, count=14, min=10543.8ms, max=12877.6ms + physics_step: mean=25.4ms, total=132.36s, count=5216, min=15.4ms, max=93.0ms + save_batch_prep: mean=5.40s, total=75.61s, count=14, min=4108.3ms, max=6065.4ms + task_sampling: mean=751.5ms, total=13.53s, count=18, min=446.4ms, max=4574.1ms + task_specific_sample: mean=523.6ms, total=9.42s, count=18, min=442.5ms, max=762.3ms + scene_load: mean=4.02s, total=4.02s, count=1, min=4023.0ms, max=4023.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2502.0ms, max=2502.0ms + scene_compile: mean=1.35s, total=1.35s, count=1, min=1346.3ms, max=1346.3ms + compile_mujoco: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms + compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms + scene_init: mean=116.1ms, total=116.1ms, count=1, min=116.1ms, max=116.1ms + scene_asset_install: mean=58.1ms, total=58.1ms, count=1, min=58.1ms, max=58.1ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_randomize: mean=2.6ms, total=46.0ms, count=18, min=1.3ms, max=4.6ms + asset_install_grasps: mean=39.9ms, total=39.9ms, count=1, min=39.9ms, max=39.9ms + compile_robot_add: mean=29.0ms, total=29.0ms, count=1, min=29.0ms, max=29.0ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=489.6us, total=8.8ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=27.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 13:29:40 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 13:29:40 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5807.41s + Worker averages: + episode_total: mean=179.11s, total=3224.05s, count=18, min=118767.6ms, max=241816.9ms + sensor_polling: mean=418.3ms, total=2181.71s, count=5216, min=368.6ms, max=965.3ms + save_trajectories: mean=11.51s, total=161.18s, count=14, min=10543.8ms, max=12877.6ms + physics_step: mean=25.4ms, total=132.36s, count=5216, min=15.4ms, max=93.0ms + save_batch_prep: mean=5.40s, total=75.61s, count=14, min=4108.3ms, max=6065.4ms + task_sampling: mean=751.5ms, total=13.53s, count=18, min=446.4ms, max=4574.1ms + task_specific_sample: mean=523.6ms, total=9.42s, count=18, min=442.5ms, max=762.3ms + scene_load: mean=4.02s, total=4.02s, count=1, min=4023.0ms, max=4023.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2502.0ms, max=2502.0ms + scene_compile: mean=1.35s, total=1.35s, count=1, min=1346.3ms, max=1346.3ms + compile_mujoco: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms + compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms + scene_init: mean=116.1ms, total=116.1ms, count=1, min=116.1ms, max=116.1ms + scene_asset_install: mean=58.1ms, total=58.1ms, count=1, min=58.1ms, max=58.1ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_randomize: mean=2.6ms, total=46.0ms, count=18, min=1.3ms, max=4.6ms + asset_install_grasps: mean=39.9ms, total=39.9ms, count=1, min=39.9ms, max=39.9ms + compile_robot_add: mean=29.0ms, total=29.0ms, count=1, min=29.0ms, max=29.0ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=489.6us, total=8.8ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=27.1us, total=0.5ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 13:29:44 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 13:29:44 INFO: Success count: 14, Total count: 15 [pipeline.py: 1491] +05/12 13:29:44 INFO: Success rate: 93.33% [pipeline.py: 1492] +05/12 13:29:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:29:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:30:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:30:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:30:18 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:30:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:30:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:30:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:30:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:30:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.52s (batch: 4.70s, save: 10.82s) [pipeline.py: 300] +05/12 13:30:34 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.74s: + episode_total: mean=194.02s, total=194.02s, count=1, min=194018.9ms, max=194018.9ms + sensor_polling: mean=443.0ms, total=132.89s, count=300, min=402.6ms, max=854.5ms + save_trajectories: mean=10.82s, total=10.82s, count=1, min=10818.0ms, max=10818.0ms + physics_step: mean=25.4ms, total=7.62s, count=300, min=21.7ms, max=35.9ms + save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4702.4ms, max=4702.4ms + task_sampling: mean=739.6ms, total=739.6ms, count=1, min=739.6ms, max=739.6ms + task_specific_sample: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=612.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:30:36 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:30:36 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:30:36 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/12 13:30:36 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5771.25s + House averages: + episode_total: mean=182.62s, total=3287.12s, count=18, min=3215.6ms, max=239330.1ms + sensor_polling: mean=445.7ms, total=2112.10s, count=4739, min=383.0ms, max=1075.7ms + save_trajectories: mean=11.55s, total=150.15s, count=13, min=10701.1ms, max=13268.8ms + physics_step: mean=25.5ms, total=120.70s, count=4739, min=15.2ms, max=119.6ms + save_batch_prep: mean=5.05s, total=65.64s, count=13, min=3409.2ms, max=7026.3ms + task_sampling: mean=825.6ms, total=14.86s, count=18, min=393.6ms, max=5004.2ms + task_specific_sample: mean=589.9ms, total=10.62s, count=18, min=389.3ms, max=844.7ms + scene_load: mean=4.16s, total=4.16s, count=1, min=4160.0ms, max=4160.0ms + scene_env_create: mean=2.40s, total=2.40s, count=1, min=2395.3ms, max=2395.3ms + scene_compile: mean=1.58s, total=1.58s, count=1, min=1578.4ms, max=1578.4ms + compile_mujoco: mean=930.8ms, total=930.8ms, count=1, min=930.8ms, max=930.8ms + compile_xml_load: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms + scene_init: mean=128.9ms, total=128.9ms, count=1, min=128.9ms, max=128.9ms + compile_aux_objects: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + compile_aux_policy_objects: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms + scene_randomize: mean=2.7ms, total=49.4ms, count=18, min=1.1ms, max=6.3ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=515.9us, total=9.3ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=22.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 13:30:36 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 13:30:36 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5771.25s + Worker averages: + episode_total: mean=182.62s, total=3287.12s, count=18, min=3215.6ms, max=239330.1ms + sensor_polling: mean=445.7ms, total=2112.10s, count=4739, min=383.0ms, max=1075.7ms + save_trajectories: mean=11.55s, total=150.15s, count=13, min=10701.1ms, max=13268.8ms + physics_step: mean=25.5ms, total=120.70s, count=4739, min=15.2ms, max=119.6ms + save_batch_prep: mean=5.05s, total=65.64s, count=13, min=3409.2ms, max=7026.3ms + task_sampling: mean=825.6ms, total=14.86s, count=18, min=393.6ms, max=5004.2ms + task_specific_sample: mean=589.9ms, total=10.62s, count=18, min=389.3ms, max=844.7ms + scene_load: mean=4.16s, total=4.16s, count=1, min=4160.0ms, max=4160.0ms + scene_env_create: mean=2.40s, total=2.40s, count=1, min=2395.3ms, max=2395.3ms + scene_compile: mean=1.58s, total=1.58s, count=1, min=1578.4ms, max=1578.4ms + compile_mujoco: mean=930.8ms, total=930.8ms, count=1, min=930.8ms, max=930.8ms + compile_xml_load: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms + scene_init: mean=128.9ms, total=128.9ms, count=1, min=128.9ms, max=128.9ms + compile_aux_objects: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + compile_aux_policy_objects: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms + scene_randomize: mean=2.7ms, total=49.4ms, count=18, min=1.1ms, max=6.3ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=515.9us, total=9.3ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=22.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 13:30:40 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 13:30:40 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/12 13:30:40 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 13:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:30:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:30:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:30:55 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: 179] +05/12 13:30:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:30:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 60 non-colliding grasps [grasp_sample.py: 465] +05/12 13:30:58 INFO: [Worker 0] Feasibility-checked 60 grasps in 2.834s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:30:58 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:31:00 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:31:00 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 13:31:00 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes [pipeline.py: 1323] +05/12 13:31:00 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5935.52s + House averages: + episode_total: mean=183.85s, total=3309.23s, count=18, min=6302.9ms, max=227400.3ms + sensor_polling: mean=441.4ms, total=2217.93s, count=5025, min=375.0ms, max=1179.6ms + save_trajectories: mean=11.44s, total=171.64s, count=15, min=10463.4ms, max=12529.7ms + physics_step: mean=24.8ms, total=124.57s, count=5025, min=15.4ms, max=68.3ms + save_batch_prep: mean=5.15s, total=77.24s, count=15, min=4484.9ms, max=7639.0ms + task_sampling: mean=832.1ms, total=14.98s, count=18, min=484.7ms, max=4911.7ms + task_specific_sample: mean=619.0ms, total=11.14s, count=18, min=479.1ms, max=1162.9ms + scene_load: mean=3.75s, total=3.75s, count=1, min=3745.9ms, max=3745.9ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2438.9ms, max=2438.9ms + scene_compile: mean=1.13s, total=1.13s, count=1, min=1133.2ms, max=1133.2ms + compile_mujoco: mean=834.9ms, total=834.9ms, count=1, min=834.9ms, max=834.9ms + compile_xml_load: mean=203.4ms, total=203.4ms, count=1, min=203.4ms, max=203.4ms + scene_init: mean=119.4ms, total=119.4ms, count=1, min=119.4ms, max=119.4ms + scene_randomize: mean=3.4ms, total=60.5ms, count=18, min=1.2ms, max=13.0ms + scene_asset_install: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms + mj_forward_sync: mean=488.1us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=26.4us, total=0.5ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 13:31:00 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 13:31:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5935.52s + Worker averages: + episode_total: mean=183.85s, total=3309.23s, count=18, min=6302.9ms, max=227400.3ms + sensor_polling: mean=441.4ms, total=2217.93s, count=5025, min=375.0ms, max=1179.6ms + save_trajectories: mean=11.44s, total=171.64s, count=15, min=10463.4ms, max=12529.7ms + physics_step: mean=24.8ms, total=124.57s, count=5025, min=15.4ms, max=68.3ms + save_batch_prep: mean=5.15s, total=77.24s, count=15, min=4484.9ms, max=7639.0ms + task_sampling: mean=832.1ms, total=14.98s, count=18, min=484.7ms, max=4911.7ms + task_specific_sample: mean=619.0ms, total=11.14s, count=18, min=479.1ms, max=1162.9ms + scene_load: mean=3.75s, total=3.75s, count=1, min=3745.9ms, max=3745.9ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2438.9ms, max=2438.9ms + scene_compile: mean=1.13s, total=1.13s, count=1, min=1133.2ms, max=1133.2ms + compile_mujoco: mean=834.9ms, total=834.9ms, count=1, min=834.9ms, max=834.9ms + compile_xml_load: mean=203.4ms, total=203.4ms, count=1, min=203.4ms, max=203.4ms + scene_init: mean=119.4ms, total=119.4ms, count=1, min=119.4ms, max=119.4ms + scene_randomize: mean=3.4ms, total=60.5ms, count=18, min=1.2ms, max=13.0ms + scene_asset_install: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms + mj_forward_sync: mean=488.1us, total=8.8ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=26.4us, total=0.5ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 13:31:04 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 13:31:04 INFO: Success count: 15, Total count: 15 [pipeline.py: 1491] +05/12 13:31:04 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 index 6c5dec01cbe75e8595b461b536f6fe031ecd8d6d..d2105c8923bbf9728e7bbe9d2880115262d8fd24 100644 --- a/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 +++ b/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version 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'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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/12 13:32:34 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] +05/12 13:32:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 13:32:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 13:32:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 13:32:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 13:32:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 13:32:35 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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': 51503, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/12 13:32:35 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] +05/12 13:32:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 13:32:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 13:32:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 13:32:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 13:32:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 13:32:35 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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': 51501, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/12 13:32:35 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] +05/12 13:32:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 13:32:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 13:32:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 13:32:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 13:32:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 13:32:35 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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': 51504, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.7, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/12 13:32:35 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] +05/12 13:32:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 13:32:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 13:32:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 13:32:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 13:32:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 13:32:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 13:32:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 13:32:39 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 13:32:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 13:32:39 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 13:32:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 13:32:39 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 13:32:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 13:32:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 13:32:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 13:32:39 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 13:32:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:32:39 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: 178] +05/12 13:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052596m [env.py: 870] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:32:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 13:32:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 13:32:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 13:32:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:32:39 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: 178] +05/12 13:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:32:39 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: 256] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028241m [env.py: 870] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:32:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 13:32:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 13:32:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 13:32:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:32:39 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: 178] +05/12 13:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:32:39 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: 256] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044142m [env.py: 870] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:32:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98599851 0.70819865 0.05259622] yaw=-154.3deg [env.py: 1019] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:32:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 13:32:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 13:32:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:32:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:32:39 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: 178] +05/12 13:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056003m [env.py: 870] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:32:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88156911 0.42260364 0.02824099] yaw=148.0deg [env.py: 1019] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9144971 0.27648195 0.02824099] yaw=170.6deg [env.py: 1019] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90266024 0.84766302 0.02824099] yaw=-149.8deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.7ms, retries=394.0ms, total=415.6ms [env.py: 1075] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.423, 0.028) [env.py: 1079] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.0 deg [env.py: 1082] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84661546 0.46568668 0.05259622] yaw=148.2deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08689686 1.24784077 0.05600251] yaw=-123.9deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79743113 0.49186537 0.04414238] yaw=-200.0deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88916792 0.85505748 0.05259622] yaw=-183.5deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=545.6ms, total=566.8ms [env.py: 1075] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.986, 0.708, 0.053) [env.py: 1079] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg [env.py: 1082] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06845767 1.06175422 0.05600251] yaw=-125.0deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84408619 0.46175352 0.04414238] yaw=168.0deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90919203 0.26033152 0.04414238] yaw=199.6deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=56.2ms, retries=560.8ms, total=616.9ms [env.py: 1075] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.492, 0.044) [env.py: 1079] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -200.0 deg [env.py: 1082] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06841936 1.02794242 0.05600251] yaw=-153.6deg [env.py: 1019] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=110.6ms, retries=531.8ms, total=642.4ms [env.py: 1075] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.248, 0.056) [env.py: 1079] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.9 deg [env.py: 1082] +05/12 13:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:32:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:32:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 13:32:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:32:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 13:32:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:32:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 13:32:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:32:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 13:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 35.360s [base_object_manipulation_planner_policy.py: 377] +05/12 13:33:15 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: 179] +05/12 13:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:33:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:33:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.901s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:33:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.488[m] 95.573[deg] [grasp_sample.py: 539] +05/12 13:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:33:17 INFO: [Worker 0] Warmed up parallel IK solver in 36.726s [base_object_manipulation_planner_policy.py: 377] +05/12 13:33:17 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: 179] +05/12 13:33:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:33:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:33:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:33:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:33:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:33:18 INFO: [Worker 0] Warmed up parallel IK solver in 37.569s [base_object_manipulation_planner_policy.py: 377] +05/12 13:33:18 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: 179] +05/12 13:33:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:33:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.867s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:33:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 89.285[deg] [grasp_sample.py: 539] +05/12 13:33:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:33:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:33:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:33:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:33:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.895s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:33:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.470[m] 85.308[deg] [grasp_sample.py: 539] +05/12 13:33:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:33:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:33:19 INFO: [Worker 0] Warmed up parallel IK solver in 38.727s [base_object_manipulation_planner_policy.py: 377] +05/12 13:33:19 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: 179] +05/12 13:33:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:33:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:33:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:33:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:33:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:33:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.958s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:33:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 96.154[deg] [grasp_sample.py: 539] +05/12 13:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:33:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:33:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:33:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:33:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:33:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:34:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:34:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:34:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:34:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:34:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:34:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:34:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:34:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:34:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:34:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:35:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:35:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:35:29 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: 179] +05/12 13:35:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:35:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:35:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:35:32 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.229[deg] [grasp_sample.py: 539] +05/12 13:35:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:35:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:35:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:35:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:35:44 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:35:44 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:35:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:35:56 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:35:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:12 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:36:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:36:12 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 13:36:12 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:36:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:36:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:36:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:36:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:36:15 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: 179] +05/12 13:36:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:36:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:36:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.727s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:36:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:36:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:36:20 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: 178] +05/12 13:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:36:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064382m [env.py: 870] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15228909 1.11242626 0.06438171] yaw=-154.6deg [env.py: 1019] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98596496 0.76757094 0.06438171] yaw=-173.7deg [env.py: 1019] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=251.8ms, total=251.8ms [env.py: 1075] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.152, 1.112, 0.064) [env.py: 1079] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.6 deg [env.py: 1082] +05/12 13:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:36:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 13:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 13:36:20 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: 179] +05/12 13:36:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:36:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:36:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:36:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 78.576[deg] [grasp_sample.py: 539] +05/12 13:36:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:36:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:36:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:36:24 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:36:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:36:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:36:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:36:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:36:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.10s (batch: 4.74s, save: 11.36s) [pipeline.py: 300] +05/12 13:36:29 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.32s: + episode_total: mean=233.82s, total=233.82s, count=1, min=233819.2ms, max=233819.2ms + sensor_polling: mean=473.0ms, total=135.28s, count=286, min=406.1ms, max=710.5ms + save_trajectories: mean=11.36s, total=11.36s, count=1, min=11356.6ms, max=11356.6ms + physics_step: mean=29.2ms, total=8.36s, count=286, min=21.9ms, max=40.1ms + task_sampling: mean=5.32s, total=5.32s, count=1, min=5315.6ms, max=5315.6ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4739.2ms, max=4739.2ms + scene_load: mean=4.36s, total=4.36s, count=1, min=4359.6ms, max=4359.6ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.0ms, max=2536.0ms + scene_compile: mean=1.64s, total=1.64s, count=1, min=1641.4ms, max=1641.4ms + compile_mujoco: mean=1.26s, total=1.26s, count=1, min=1255.8ms, max=1255.8ms + task_specific_sample: mean=953.2ms, total=953.2ms, count=1, min=953.2ms, max=953.2ms + compile_xml_load: mean=285.4ms, total=285.4ms, count=1, min=285.4ms, max=285.4ms + scene_init: mean=118.5ms, total=118.5ms, count=1, min=118.5ms, max=118.5ms + scene_asset_install: mean=63.3ms, total=63.3ms, count=1, min=63.3ms, max=63.3ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_robot_add: mean=34.7ms, total=34.7ms, count=1, min=34.7ms, max=34.7ms + asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms + asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=463.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=50.5us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 13:36:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:36:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:36:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.07s (batch: 4.78s, save: 12.29s) [pipeline.py: 300] +05/12 13:36:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:36:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:36:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:36:30 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: 178] +05/12 13:36:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:36:30 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: 256] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010448m [env.py: 870] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:36:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:30 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.81s: + episode_total: mean=235.85s, total=235.85s, count=1, min=235845.7ms, max=235845.7ms + sensor_polling: mean=444.3ms, total=133.28s, count=300, min=383.5ms, max=685.4ms + save_trajectories: mean=12.29s, total=12.29s, count=1, min=12288.8ms, max=12288.8ms + physics_step: mean=29.1ms, total=8.74s, count=300, min=18.7ms, max=40.7ms + task_sampling: mean=5.81s, total=5.81s, count=1, min=5811.1ms, max=5811.1ms + scene_load: mean=4.81s, total=4.81s, count=1, min=4815.0ms, max=4815.0ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4780.4ms, max=4780.4ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.3ms, max=2536.3ms + scene_compile: mean=2.05s, total=2.05s, count=1, min=2045.7ms, max=2045.7ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1290.4ms, max=1290.4ms + task_specific_sample: mean=991.6ms, total=991.6ms, count=1, min=991.6ms, max=991.6ms + compile_xml_load: mean=651.6ms, total=651.6ms, count=1, min=651.6ms, max=651.6ms + scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms + scene_asset_install: mean=110.4ms, total=110.4ms, count=1, min=110.4ms, max=110.4ms + asset_install_grasps: mean=82.7ms, total=82.7ms, count=1, min=82.7ms, max=82.7ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_robot_add: mean=34.7ms, total=34.7ms, count=1, min=34.7ms, max=34.7ms + asset_install_objects: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=610.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=54.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8500026 0.47807379 0.01044762] yaw=156.6deg [env.py: 1019] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:36:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=206.2ms, total=206.3ms [env.py: 1075] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 0.478, 0.010) [env.py: 1079] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg [env.py: 1082] +05/12 13:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:36:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 13:36:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 13:36:31 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: 179] +05/12 13:36:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:36:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:36:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.883s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:36:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.455[m] 93.607[deg] [grasp_sample.py: 539] +05/12 13:36:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:36:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:36:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:36:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052797m [env.py: 870] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15742849 1.07359942 0.05279658] yaw=-111.7deg [env.py: 1019] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:36:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05824122 1.06447122 0.05279658] yaw=-161.1deg [env.py: 1019] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74116501 0.70346074 0.05279658] yaw=-188.2deg [env.py: 1019] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.1ms, total=240.2ms [env.py: 1075] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.074, 0.053) [env.py: 1079] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.7 deg [env.py: 1082] +05/12 13:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:36:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 13:36:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:36:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:36:33 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: 179] +05/12 13:36:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:36:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:36:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:36:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.414[m] 99.364[deg] [grasp_sample.py: 539] +05/12 13:36:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:36:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:36:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:36:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:36:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:36:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.34s (batch: 4.61s, save: 12.73s) [pipeline.py: 300] +05/12 13:36:42 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.48s: + episode_total: mean=247.81s, total=247.81s, count=1, min=247814.1ms, max=247814.1ms + sensor_polling: mean=436.3ms, total=130.90s, count=300, min=383.3ms, max=734.5ms + save_trajectories: mean=12.73s, total=12.73s, count=1, min=12729.5ms, max=12729.5ms + physics_step: mean=27.2ms, total=8.15s, count=300, min=19.0ms, max=43.8ms + task_sampling: mean=5.48s, total=5.48s, count=1, min=5478.1ms, max=5478.1ms + scene_load: mean=4.63s, total=4.63s, count=1, min=4627.4ms, max=4627.4ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4606.9ms, max=4606.9ms + scene_env_create: mean=2.48s, total=2.48s, count=1, min=2476.5ms, max=2476.5ms + scene_compile: mean=1.96s, total=1.96s, count=1, min=1957.3ms, max=1957.3ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1313.1ms, max=1313.1ms + task_specific_sample: mean=847.4ms, total=847.4ms, count=1, min=847.4ms, max=847.4ms + compile_xml_load: mean=544.2ms, total=544.2ms, count=1, min=544.2ms, max=544.2ms + scene_init: mean=133.6ms, total=133.6ms, count=1, min=133.6ms, max=133.6ms + scene_asset_install: mean=59.6ms, total=59.6ms, count=1, min=59.6ms, max=59.6ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms + compile_robot_add: mean=34.8ms, total=34.8ms, count=1, min=34.8ms, max=34.8ms + asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=460.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=52.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 13:36:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:36:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:36:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:36:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:36:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:36:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043370m [env.py: 870] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:36:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64102536 0.52405677 0.04337015] yaw=-161.7deg [env.py: 1019] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73212354 0.69944253 0.04337015] yaw=-207.3deg [env.py: 1019] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73389374 0.65976712 0.04337015] yaw=-135.5deg [env.py: 1019] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:36:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.4ms [env.py: 1075] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.524, 0.043) [env.py: 1079] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg [env.py: 1082] +05/12 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:36:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:36:45 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 13:36:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:36:45 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: 179] +05/12 13:36:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:36:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:36:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.242s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:36:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.667[m] 93.520[deg] [grasp_sample.py: 539] +05/12 13:36:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:36:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:36:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:36:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:37:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:37:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:37:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:37:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:37:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:37:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:37:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:37:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:37:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:37:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:38:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:38:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:38:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:38:30 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: 179] +05/12 13:38:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:38:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:38:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.637s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:38:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.481[deg] [grasp_sample.py: 539] +05/12 13:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:38:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:38:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:38:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:38:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:38:36 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: 256] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080360m [env.py: 870] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85455028 1.04213158 0.08036007] yaw=-147.4deg [env.py: 1019] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65607742 0.1582248 0.08036007] yaw=170.6deg [env.py: 1019] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76053584 1.00815279 0.08036007] yaw=-141.6deg [env.py: 1019] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.2ms, total=191.2ms [env.py: 1075] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 1.042, 0.080) [env.py: 1079] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg [env.py: 1082] +05/12 13:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:38:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:38:37 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 13:38:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 13:38:37 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: 179] +05/12 13:38:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:38:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.002s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:38:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.617[m] 89.907[deg] [grasp_sample.py: 539] +05/12 13:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:38:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:38:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:38:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:38:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:38:53 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: 179] +05/12 13:38:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:38:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:38:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:38:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.577[deg] [grasp_sample.py: 539] +05/12 13:38:57 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:38:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:38:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:38:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:38:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:38:59 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: 178] +05/12 13:38:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:38:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032557m [env.py: 870] +05/12 13:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:38:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79507096 0.17006218 0.03255663] yaw=142.3deg [env.py: 1019] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80299146 0.22898532 0.03255663] yaw=151.8deg [env.py: 1019] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03952524 1.04262735 0.03255663] yaw=-164.2deg [env.py: 1019] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=134.6ms, total=134.7ms [env.py: 1075] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.170, 0.033) [env.py: 1079] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.3 deg [env.py: 1082] +05/12 13:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 13:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:39:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:39:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 13:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 13:39:00 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: 179] +05/12 13:39:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:39:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.631s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:39:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.536[m] 87.821[deg] [grasp_sample.py: 539] +05/12 13:39:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:39:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:39:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:39:10 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:39:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:39:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:39:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:39:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:39:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:39:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:39:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:39:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:39:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:39:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:39:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.93s (batch: 4.28s, save: 11.65s) [pipeline.py: 300] +05/12 13:39:55 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s: + episode_total: mean=190.98s, total=190.98s, count=1, min=190980.7ms, max=190980.7ms + sensor_polling: mean=432.4ms, total=129.73s, count=300, min=378.9ms, max=731.7ms + save_trajectories: mean=11.65s, total=11.65s, count=1, min=11652.3ms, max=11652.3ms + physics_step: mean=25.7ms, total=7.71s, count=300, min=21.5ms, max=39.5ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4275.1ms, max=4275.1ms + task_sampling: mean=501.2ms, total=501.2ms, count=1, min=501.2ms, max=501.2ms + task_specific_sample: mean=496.2ms, total=496.2ms, count=1, min=496.2ms, max=496.2ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=622.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=28.0us, 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] +05/12 13:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:39:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:39:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:39:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:39:57 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: 178] +05/12 13:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050629m [env.py: 870] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87192681 0.09861799 0.05062879] yaw=180.9deg [env.py: 1019] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86401732 1.1170677 0.05062879] yaw=-151.6deg [env.py: 1019] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.834179 0.18482356 0.05062879] yaw=150.6deg [env.py: 1019] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=158.9ms [env.py: 1075] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.099, 0.051) [env.py: 1079] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg [env.py: 1082] +05/12 13:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:39:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:39:57 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 13:39:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 13:39:57 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: 179] +05/12 13:39:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:39:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:39:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.999s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:39:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.530[m] 85.065[deg] [grasp_sample.py: 539] +05/12 13:39:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:39:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:39:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:39:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:40:01 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:40:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:40:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:40:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:40:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:40:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:40:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:40:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.87s (batch: 4.70s, save: 13.18s) [pipeline.py: 300] +05/12 13:40:20 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s: + episode_total: mean=229.87s, total=229.87s, count=1, min=229871.0ms, max=229871.0ms + sensor_polling: mean=466.7ms, total=140.02s, count=300, min=399.1ms, max=769.7ms + save_trajectories: mean=13.18s, total=13.18s, count=1, min=13176.6ms, max=13176.6ms + physics_step: mean=28.3ms, total=8.50s, count=300, min=19.2ms, max=38.4ms + save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4697.2ms, max=4697.2ms + task_sampling: mean=496.3ms, total=496.3ms, count=1, min=496.3ms, max=496.3ms + task_specific_sample: mean=492.0ms, total=492.0ms, count=1, min=492.0ms, max=492.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=466.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.0us, 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] +05/12 13:40:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:40:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:40:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:40:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:40:22 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: 178] +05/12 13:40:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:40:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050775m [env.py: 870] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:40:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03325254 1.2916912 0.05077502] yaw=-141.2deg [env.py: 1019] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90175431 0.55625212 0.05077502] yaw=-212.4deg [env.py: 1019] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77698834 0.43752917 0.05077502] yaw=140.4deg [env.py: 1019] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:40:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.9ms, total=235.9ms [env.py: 1075] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 1.292, 0.051) [env.py: 1079] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg [env.py: 1082] +05/12 13:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:40:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:40:22 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 13:40:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 13:40:22 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: 179] +05/12 13:40:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:40:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:40:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.747s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:40:25 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:40:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:40:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:40:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:40:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:40:27 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: 178] +05/12 13:40:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:40:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071585m [env.py: 870] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:40:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14256968 1.14750835 0.07158505] yaw=-128.1deg [env.py: 1019] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94439906 1.0348142 0.07158505] yaw=-173.7deg [env.py: 1019] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86718969 0.2052562 0.07158505] yaw=181.5deg [env.py: 1019] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:40:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=234.8ms, total=234.8ms [env.py: 1075] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.143, 1.148, 0.072) [env.py: 1079] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.1 deg [env.py: 1082] +05/12 13:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:40:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:40:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 13:40:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 13:40:28 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: 179] +05/12 13:40:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:40:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:40:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.243s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:40:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 82.184[deg] [grasp_sample.py: 539] +05/12 13:40:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:40:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:40:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:40:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:40:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:40:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:41:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:41:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:41:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:41:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:41:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:41:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:41:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:41:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:41:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.39s (batch: 5.02s, save: 11.38s) [pipeline.py: 300] +05/12 13:41:48 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=6.70s: + episode_total: mean=182.93s, total=548.78s, count=3, min=134428.0ms, max=222898.6ms + sensor_polling: mean=441.2ms, total=371.45s, count=842, min=375.4ms, max=830.2ms + physics_step: mean=27.0ms, total=22.71s, count=842, min=17.6ms, max=62.1ms + save_trajectories: mean=11.38s, total=11.38s, count=1, min=11375.0ms, max=11375.0ms + task_sampling: mean=2.23s, total=6.69s, count=3, min=529.9ms, max=5605.6ms + save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5019.8ms, max=5019.8ms + scene_load: mean=4.58s, total=4.58s, count=1, min=4583.8ms, max=4583.8ms + scene_env_create: mean=2.59s, total=2.59s, count=1, min=2591.7ms, max=2591.7ms + task_specific_sample: mean=695.7ms, total=2.09s, count=3, min=519.0ms, max=1014.5ms + scene_compile: mean=1.80s, total=1.80s, count=1, min=1796.5ms, max=1796.5ms + compile_mujoco: mean=1.31s, total=1.31s, count=1, min=1309.9ms, max=1309.9ms + compile_xml_load: mean=379.9ms, total=379.9ms, count=1, min=379.9ms, max=379.9ms + scene_init: mean=125.1ms, total=125.1ms, count=1, min=125.1ms, max=125.1ms + scene_asset_install: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_objects: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + compile_aux_policy_objects: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + asset_install_grasps: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_robot_add: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms + scene_randomize: mean=4.9ms, total=14.6ms, count=3, min=2.4ms, max=9.5ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms + mj_forward_sync: mean=1.3ms, total=4.0ms, count=3, min=0.5ms, max=3.0ms + policy_setup: mean=38.5us, total=0.1ms, count=3, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:41:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:41:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:41:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:41:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:41:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046473m [env.py: 870] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12435517 1.06448476 0.04647345] yaw=-166.5deg [env.py: 1019] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74723264 0.9600804 0.04647345] yaw=-172.0deg [env.py: 1019] +05/12 13:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:41:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.4ms, total=238.4ms [env.py: 1075] +05/12 13:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.124, 1.064, 0.046) [env.py: 1079] +05/12 13:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg [env.py: 1082] +05/12 13:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 13:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:41:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:41:50 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 13:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/12 13:41:50 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: 179] +05/12 13:41:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:41:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:41:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.798s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:41:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.504[m] 92.479[deg] [grasp_sample.py: 539] +05/12 13:41:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:41:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:41:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:41:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:41:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:41:52 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: 179] +05/12 13:41:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:41:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:41:53 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.692s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:41:53 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.034[m] 0.878[deg] [grasp_sample.py: 539] +05/12 13:41:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:41:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:41:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:41:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:41:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:41:56 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: 178] +05/12 13:41:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:41:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045439m [env.py: 870] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:41:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85886835 0.51862354 0.04543868] yaw=-192.2deg [env.py: 1019] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93309608 0.29928956 0.04543868] yaw=170.1deg [env.py: 1019] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.07908785 1.10163323 0.04543868] yaw=-108.7deg [env.py: 1019] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:41:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.2ms, total=227.3ms [env.py: 1075] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.519, 0.045) [env.py: 1079] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.2 deg [env.py: 1082] +05/12 13:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:41:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:41:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 13:41:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 13:41:57 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: 179] +05/12 13:41:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:41:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:41:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:41:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.407[m] 83.496[deg] [grasp_sample.py: 539] +05/12 13:41:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:41:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:41:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:42:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:42:27 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: 179] +05/12 13:42:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:42:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 13:42:28 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.739s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:42:28 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.034[m] 1.521[deg] [grasp_sample.py: 539] +05/12 13:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:29 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:42:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:42:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:42:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:42:31 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: 178] +05/12 13:42:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:42:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041006m [env.py: 870] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:42:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20361923 1.10224936 0.04100565] yaw=-121.6deg [env.py: 1019] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08449713 0.92927232 0.04100565] yaw=-153.9deg [env.py: 1019] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86353324 0.9033906 0.04100565] yaw=-173.5deg [env.py: 1019] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:42:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.0ms [env.py: 1075] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.204, 1.102, 0.041) [env.py: 1079] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.6 deg [env.py: 1082] +05/12 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m [env.py: 1086] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:42:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:42:32 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 13:42:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 13:42:32 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: 179] +05/12 13:42:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:42:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.140s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:42:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 105.893[deg] [grasp_sample.py: 539] +05/12 13:42:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:42:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:42:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:42:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:42:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:42:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:42:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:42:37 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: 179] +05/12 13:42:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:42:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:42:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.682s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:42:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.979[deg] [grasp_sample.py: 539] +05/12 13:42:41 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:42:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:42:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087933m [env.py: 870] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98474556 0.26110869 0.08793255] yaw=186.4deg [env.py: 1019] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=255.9ms, total=255.9ms [env.py: 1075] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.261, 0.088) [env.py: 1079] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg [env.py: 1082] +05/12 13:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:42:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:42:44 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 13:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 13:42:44 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: 179] +05/12 13:42:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:42:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:42:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:42:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.031s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:42:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 100.258[deg] [grasp_sample.py: 539] +05/12 13:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:42:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:42:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:42:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:42:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:43:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:43:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:43:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:43:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:43:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:43:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:43:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:43:52 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: 179] +05/12 13:43:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:43:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:43:53 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.679s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:43:53 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.246[deg] [grasp_sample.py: 539] +05/12 13:43:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:43:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:43:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:43:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:44:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:44:15 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: 179] +05/12 13:44:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:44:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:44:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.964s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:44:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.710[deg] [grasp_sample.py: 539] +05/12 13:44:19 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:44:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:44:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:44:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:44:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:44:22 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: 178] +05/12 13:44:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:44:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034369m [env.py: 870] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:44:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84409577 0.81542495 0.03436936] yaw=-170.3deg [env.py: 1019] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95589874 0.71906006 0.03436936] yaw=-150.7deg [env.py: 1019] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6929395 0.66913961 0.03436936] yaw=-143.8deg [env.py: 1019] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:44:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=203.1ms, total=203.2ms [env.py: 1075] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.815, 0.034) [env.py: 1079] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.3 deg [env.py: 1082] +05/12 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:44:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:44:22 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 13:44:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:44:22 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: 179] +05/12 13:44:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:44:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.240s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:44:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 89.012[deg] [grasp_sample.py: 539] +05/12 13:44:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:44:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:44:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:44:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:44:36 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: 179] +05/12 13:44:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:44:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:44:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.807s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:44:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 1.165[deg] [grasp_sample.py: 539] +05/12 13:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:39 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:44:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:44:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:44:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:44:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:44:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:44:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053965m [env.py: 870] +05/12 13:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:44:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05969697 1.05148576 0.05396454] yaw=-151.3deg [env.py: 1019] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92865627 0.65864235 0.05396454] yaw=-191.8deg [env.py: 1019] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94742066 0.92853347 0.05396454] yaw=-127.4deg [env.py: 1019] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=361.9ms, total=361.9ms [env.py: 1075] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.051, 0.054) [env.py: 1079] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg [env.py: 1082] +05/12 13:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 13:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:44:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:44:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 13:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 13:44:41 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: 179] +05/12 13:44:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:44:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:44:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.282s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:44:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 80.535[deg] [grasp_sample.py: 539] +05/12 13:44:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:44:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:44:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:44:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:44:45 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: 179] +05/12 13:44:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:44:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 72 non-colliding grasps [grasp_sample.py: 465] +05/12 13:44:48 INFO: [Worker 0] Feasibility-checked 72 grasps in 2.759s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:44:48 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:44:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:44:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:44:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:44:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:44:50 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: 178] +05/12 13:44:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:44:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041832m [env.py: 870] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:44:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63871573 0.5187563 0.04183243] yaw=-214.3deg [env.py: 1019] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78210629 0.78985974 0.04183243] yaw=-192.5deg [env.py: 1019] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78842561 0.35196904 0.04183243] yaw=158.1deg [env.py: 1019] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.6ms, total=171.6ms [env.py: 1075] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.639, 0.519, 0.042) [env.py: 1079] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -214.3 deg [env.py: 1082] +05/12 13:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:44:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:44:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 13:44:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 13:44:50 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: 179] +05/12 13:44:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:44:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:44:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.750[m] 96.784[deg] [grasp_sample.py: 539] +05/12 13:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:44:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:44:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:44:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:44:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:45:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:45:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:45:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:45:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:45:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:45:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:45:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:45:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:45:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:45:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:45:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:45:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.36s (batch: 4.40s, save: 10.96s) [pipeline.py: 300] +05/12 13:45:38 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.49s: + episode_total: mean=180.68s, total=542.05s, count=3, min=145378.6ms, max=221933.8ms + sensor_polling: mean=441.5ms, total=383.18s, count=868, min=376.7ms, max=884.8ms + physics_step: mean=27.2ms, total=23.64s, count=868, min=17.7ms, max=39.5ms + save_trajectories: mean=10.96s, total=10.96s, count=1, min=10963.8ms, max=10963.8ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.9ms, max=4398.9ms + task_sampling: mean=497.8ms, total=1.49s, count=3, min=416.9ms, max=564.3ms + task_specific_sample: mean=493.7ms, total=1.48s, count=3, min=412.7ms, max=559.7ms + scene_randomize: mean=2.2ms, total=6.6ms, count=3, min=1.2ms, max=3.1ms + mj_forward_sync: mean=517.6us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=22.0us, 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] +05/12 13:45:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:45:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:45:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:45:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:45:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:45:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:45:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056578m [env.py: 870] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:45:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83083188 0.44739958 0.05657849] yaw=145.4deg [env.py: 1019] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93447055 0.81119293 0.05657849] yaw=-190.0deg [env.py: 1019] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72825777 0.50535398 0.05657849] yaw=-139.8deg [env.py: 1019] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:45:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.7ms, total=238.7ms [env.py: 1075] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.447, 0.057) [env.py: 1079] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.4 deg [env.py: 1082] +05/12 13:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:45:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:45:40 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 13:45:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 13:45:40 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: 179] +05/12 13:45:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:45:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:45:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:45:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.526[m] 91.993[deg] [grasp_sample.py: 539] +05/12 13:45:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:45:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:45:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:45:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:46:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:46:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:46:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:46:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:46:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:46:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:46:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:47:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:47:13 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: 179] +05/12 13:47:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:47:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:47:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.706s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:47:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.527[deg] [grasp_sample.py: 539] +05/12 13:47:17 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:47:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:47:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:47:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:47:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:47:19 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: 178] +05/12 13:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041434m [env.py: 870] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:47:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93913734 0.4863791 0.04143428] yaw=-180.2deg [env.py: 1019] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91997285 0.93189709 0.04143428] yaw=-128.1deg [env.py: 1019] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85261942 0.52825413 0.04143428] yaw=-136.9deg [env.py: 1019] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.3ms, total=161.3ms [env.py: 1075] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.486, 0.041) [env.py: 1079] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.2 deg [env.py: 1082] +05/12 13:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m [env.py: 1086] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:47:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:47:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 13:47:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 13:47:19 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: 179] +05/12 13:47:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:47:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:47:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:47:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.359[m] 102.321[deg] [grasp_sample.py: 539] +05/12 13:47:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:47:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:47:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:47:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:47:25 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:47:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:47:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:47:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:47:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:47:39 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: 179] +05/12 13:47:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:47:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 13:47:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:47:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.027[m] 0.823[deg] [grasp_sample.py: 539] +05/12 13:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:47:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:47:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:47:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:47:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:47:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:47:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:47:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:47:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.83s (batch: 5.73s, save: 11.10s) [pipeline.py: 300] +05/12 13:47:42 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.09s: + episode_total: mean=175.12s, total=350.24s, count=2, min=149764.2ms, max=200479.4ms + sensor_polling: mean=457.5ms, total=260.33s, count=569, min=380.2ms, max=959.5ms + physics_step: mean=27.7ms, total=15.76s, count=569, min=16.8ms, max=40.5ms + save_trajectories: mean=11.10s, total=11.10s, count=1, min=11098.9ms, max=11098.9ms + save_batch_prep: mean=5.73s, total=5.73s, count=1, min=5728.4ms, max=5728.4ms + task_sampling: mean=546.4ms, total=1.09s, count=2, min=508.4ms, max=584.4ms + task_specific_sample: mean=540.9ms, total=1.08s, count=2, min=503.3ms, max=578.5ms + scene_randomize: mean=3.2ms, total=6.3ms, count=2, min=2.5ms, max=3.8ms + mj_forward_sync: mean=617.6us, total=1.2ms, count=2, min=0.5ms, max=0.8ms + policy_setup: mean=28.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:47:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:47:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:47:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:47:44 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: 256] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012460m [env.py: 870] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95364692 0.72579356 0.01245998] yaw=-200.8deg [env.py: 1019] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99410404 1.23188091 0.01245998] yaw=-157.3deg [env.py: 1019] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08664029 1.14242049 0.01245998] yaw=-169.4deg [env.py: 1019] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=211.5ms, total=211.6ms [env.py: 1075] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.726, 0.012) [env.py: 1079] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -200.8 deg [env.py: 1082] +05/12 13:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m [env.py: 1086] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:47:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:47:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:47:44 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 13:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s [base_object_manipulation_planner_policy.py: 377] +05/12 13:47:45 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: 179] +05/12 13:47:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:47:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:47:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:47:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.554[m] 101.596[deg] [grasp_sample.py: 539] +05/12 13:47:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:47:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:47:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:47:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:47:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:47:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:47:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:47:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.10s (batch: 4.36s, save: 11.74s) [pipeline.py: 300] +05/12 13:47:56 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.49s: + episode_total: mean=158.54s, total=475.63s, count=3, min=136438.2ms, max=186394.5ms + sensor_polling: mean=433.8ms, total=357.41s, count=824, min=366.8ms, max=925.2ms + physics_step: mean=27.0ms, total=22.22s, count=824, min=17.5ms, max=76.9ms + save_trajectories: mean=11.74s, total=11.74s, count=1, min=11740.6ms, max=11740.6ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.9ms, max=4361.9ms + task_sampling: mean=495.0ms, total=1.48s, count=3, min=477.7ms, max=515.7ms + task_specific_sample: mean=489.9ms, total=1.47s, count=3, min=473.8ms, max=512.5ms + scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.4ms, max=2.6ms + mj_forward_sync: mean=517.2us, total=1.6ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=22.7us, 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] +05/12 13:47:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:47:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:47:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:47:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:47:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:47:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:47:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:47:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072680m [env.py: 870] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:47:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11089924 1.09215923 0.07268047] yaw=-162.1deg [env.py: 1019] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80214694 0.20945369 0.07268047] yaw=180.2deg [env.py: 1019] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83183175 0.77930089 0.07268047] yaw=-193.6deg [env.py: 1019] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:47:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms [env.py: 1075] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.111, 1.092, 0.073) [env.py: 1079] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg [env.py: 1082] +05/12 13:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:47:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:47:58 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 13:47:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 13:47:58 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: 179] +05/12 13:47:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:47:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:47:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:47:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 84.265[deg] [grasp_sample.py: 539] +05/12 13:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:48:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:48:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:48:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:48:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:48:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:48:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:48:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:48:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:48:59 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: 179] +05/12 13:48:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:48:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:49:02 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.264s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:49:02 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.988[deg] [grasp_sample.py: 539] +05/12 13:49:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:49:05 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:49:34 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:49:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:49:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:49:46 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:49:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:49:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:49:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.58s (batch: 4.31s, save: 12.27s) [pipeline.py: 300] +05/12 13:49:51 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.58s: + episode_total: mean=251.39s, total=251.39s, count=1, min=251391.5ms, max=251391.5ms + sensor_polling: mean=446.6ms, total=133.97s, count=300, min=387.4ms, max=878.3ms + save_trajectories: mean=12.27s, total=12.27s, count=1, min=12269.7ms, max=12269.7ms + physics_step: mean=27.0ms, total=8.10s, count=300, min=16.9ms, max=68.4ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4307.2ms, max=4307.2ms + task_sampling: mean=577.9ms, total=577.9ms, count=1, min=577.9ms, max=577.9ms + task_specific_sample: mean=573.2ms, total=573.2ms, count=1, min=573.2ms, max=573.2ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=730.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:49:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:49:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:49:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067443m [env.py: 870] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8539067 0.70601123 0.06744272] yaw=-203.0deg [env.py: 1019] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97903865 0.20853819 0.06744272] yaw=153.3deg [env.py: 1019] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7366884 0.27512625 0.06744272] yaw=184.7deg [env.py: 1019] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=333.9ms, total=334.0ms [env.py: 1075] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.706, 0.067) [env.py: 1079] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -203.0 deg [env.py: 1082] +05/12 13:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:49:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:49:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 13:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/12 13:49:54 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: 179] +05/12 13:49:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:49:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:49:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:49:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 85.148[deg] [grasp_sample.py: 539] +05/12 13:49:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:49:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:49:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:16 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:50:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:50:16 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 13:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:50:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:50:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:50:16 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: 179] +05/12 13:50:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:50:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:50:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 7.016s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:50:23 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.067[m] 10.693[deg] [grasp_sample.py: 539] +05/12 13:50:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:50:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:50:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:50:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:50:27 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: 178] +05/12 13:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:50:27 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: 256] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007508m [env.py: 870] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64369413 0.63648219 0.00750834] yaw=-138.9deg [env.py: 1019] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8931573 0.54341533 0.00750834] yaw=-213.3deg [env.py: 1019] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15062064 1.12164801 0.00750834] yaw=-127.4deg [env.py: 1019] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.9ms, total=166.9ms [env.py: 1075] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.636, 0.008) [env.py: 1079] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg [env.py: 1082] +05/12 13:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:50:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:50:27 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 13:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 13:50:27 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: 179] +05/12 13:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:50:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:50:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.703[m] 91.142[deg] [grasp_sample.py: 539] +05/12 13:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:50:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:50:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:50:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:50:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:50:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:50:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.53s (batch: 4.70s, save: 11.84s) [pipeline.py: 300] +05/12 13:50:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.71s: + episode_total: mean=120.80s, total=604.01s, count=5, min=3535.2ms, max=194006.6ms + sensor_polling: mean=457.4ms, total=454.66s, count=994, min=389.1ms, max=926.2ms + physics_step: mean=27.7ms, total=27.56s, count=994, min=16.9ms, max=49.5ms + save_trajectories: mean=11.84s, total=11.84s, count=1, min=11838.6ms, max=11838.6ms + save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4695.4ms, max=4695.4ms + task_sampling: mean=541.4ms, total=2.71s, count=5, min=433.5ms, max=639.0ms + task_specific_sample: mean=537.4ms, total=2.69s, count=5, min=429.6ms, max=635.0ms + scene_randomize: mean=2.0ms, total=9.8ms, count=5, min=1.4ms, max=2.9ms + mj_forward_sync: mean=578.8us, total=2.9ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=21.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:50:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:50:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:50:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:50:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:50:35 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: 178] +05/12 13:50:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:50:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086593m [env.py: 870] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:50:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09465349 1.2253718 0.08659346] yaw=-133.3deg [env.py: 1019] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06850678 1.08701664 0.08659346] yaw=-105.8deg [env.py: 1019] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89434685 0.99360543 0.08659346] yaw=-116.9deg [env.py: 1019] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:50:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=244.2ms, total=244.2ms [env.py: 1075] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.225, 0.087) [env.py: 1079] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg [env.py: 1082] +05/12 13:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:50:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:50:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:50:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 13:50:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 13:50:35 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: 179] +05/12 13:50:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:50:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:50:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:50:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:50:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.725s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:50:40 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.594[m] 102.127[deg] [grasp_sample.py: 539] +05/12 13:50:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:50:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:50:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:50:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:50:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:50:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:50:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:50:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:50:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.45s (batch: 4.27s, save: 11.18s) [pipeline.py: 300] +05/12 13:50:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:50:56 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.64s: + episode_total: mean=192.35s, total=192.35s, count=1, min=192352.5ms, max=192352.5ms + sensor_polling: mean=442.6ms, total=132.79s, count=300, min=379.2ms, max=891.0ms + save_trajectories: mean=11.18s, total=11.18s, count=1, min=11182.7ms, max=11182.7ms + physics_step: mean=27.8ms, total=8.34s, count=300, min=17.1ms, max=35.6ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.1ms, max=4272.1ms + task_sampling: mean=638.0ms, total=638.0ms, count=1, min=638.0ms, max=638.0ms + task_specific_sample: mean=634.0ms, total=634.0ms, count=1, min=634.0ms, max=634.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=465.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=32.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:50:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:50:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:50:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:50:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:50:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:50:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:50:58 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: 256] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008433m [env.py: 870] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:50:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92570111 1.12367283 0.00843307] yaw=-143.1deg [env.py: 1019] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72509867 0.78042679 0.00843307] yaw=-165.0deg [env.py: 1019] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82041736 0.9342432 0.00843307] yaw=-191.1deg [env.py: 1019] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=275.8ms, total=275.9ms [env.py: 1075] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 1.124, 0.008) [env.py: 1079] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg [env.py: 1082] +05/12 13:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:50:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:50:59 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 13:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.182s [base_object_manipulation_planner_policy.py: 377] +05/12 13:50:59 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: 179] +05/12 13:50:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:50:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:51:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.653s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:51:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.586[m] 92.710[deg] [grasp_sample.py: 539] +05/12 13:51:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:51:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:51:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:51:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:51:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:51:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:51:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:51:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:51:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:51:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:52:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:52:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:52:21 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:52:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:52:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:52:47 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: 179] +05/12 13:52:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:52:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:52:48 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:52:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:52:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:52:50 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:52:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 5.566s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:52:52 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.046[m] 9.982[deg] [grasp_sample.py: 539] +05/12 13:52:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:52:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:52:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:52:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:53:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:53:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:53:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.82s (batch: 3.93s, save: 10.89s) [pipeline.py: 300] +05/12 13:53:03 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.71s: + episode_total: mean=190.43s, total=190.43s, count=1, min=190431.9ms, max=190431.9ms + sensor_polling: mean=444.8ms, total=133.44s, count=300, min=378.5ms, max=901.1ms + save_trajectories: mean=10.89s, total=10.89s, count=1, min=10890.4ms, max=10890.4ms + physics_step: mean=28.8ms, total=8.64s, count=300, min=22.1ms, max=47.6ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3931.8ms, max=3931.8ms + task_sampling: mean=714.8ms, total=714.8ms, count=1, min=714.8ms, max=714.8ms + task_specific_sample: mean=710.3ms, total=710.3ms, count=1, min=710.3ms, max=710.3ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=461.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=27.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:53:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:53:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:53:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:53:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:53:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:53:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058797m [env.py: 870] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:53:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9563107 1.090302 0.05879718] yaw=-155.6deg [env.py: 1019] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73317668 0.54273114 0.05879718] yaw=-205.2deg [env.py: 1019] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:53:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.8ms, total=225.9ms [env.py: 1075] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 1.090, 0.059) [env.py: 1079] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.6 deg [env.py: 1082] +05/12 13:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:53:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 13:53:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 13:53:06 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: 179] +05/12 13:53:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:53:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:53:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:53:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:53:10 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.592[m] 86.091[deg] [grasp_sample.py: 539] +05/12 13:53:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:53:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:53:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:53:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:53:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:53:13 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: 178] +05/12 13:53:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:53:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026159m [env.py: 870] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:53:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67984448 0.45473469 0.02615859] yaw=180.1deg [env.py: 1019] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0491203 0.92989309 0.02615859] yaw=-159.2deg [env.py: 1019] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:53:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=471.9ms, total=472.0ms [env.py: 1075] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.455, 0.026) [env.py: 1079] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.1 deg [env.py: 1082] +05/12 13:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:53:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 13:53:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 13:53:13 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: 179] +05/12 13:53:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:53:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:53:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.567[m] 85.216[deg] [grasp_sample.py: 539] +05/12 13:53:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:53:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:53:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:53:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:53:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:53:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:53:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:53:26 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: 179] +05/12 13:53:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:53:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.766s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:53:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 0.791[deg] [grasp_sample.py: 539] +05/12 13:53:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:53:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:53:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:53:30 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: 179] +05/12 13:53:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:53:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/12 13:53:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:53:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:53:32 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.681s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:53:32 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.178[m] 17.887[deg] [grasp_sample.py: 539] +05/12 13:53:34 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:53:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:53:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:53:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.07s (batch: 4.52s, save: 11.55s) [pipeline.py: 300] +05/12 13:53:35 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.99s: + episode_total: mean=167.83s, total=335.66s, count=2, min=146880.4ms, max=188783.9ms + sensor_polling: mean=432.0ms, total=244.51s, count=566, min=370.2ms, max=872.9ms + physics_step: mean=26.7ms, total=15.11s, count=566, min=17.7ms, max=54.3ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11546.8ms, max=11546.8ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.6ms, max=4519.6ms + task_sampling: mean=493.3ms, total=986.5ms, count=2, min=453.1ms, max=533.4ms + task_specific_sample: mean=488.8ms, total=977.6ms, count=2, min=448.4ms, max=529.2ms + scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=2.4ms, max=2.9ms + mj_forward_sync: mean=528.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:53:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:53:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:53:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:53:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:53:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:53:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007046m [env.py: 870] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:53:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02131913 0.96988861 0.00704551] yaw=-161.7deg [env.py: 1019] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62997948 0.45511086 0.00704551] yaw=174.9deg [env.py: 1019] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85809613 0.72331394 0.00704551] yaw=-153.7deg [env.py: 1019] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:53:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms [env.py: 1075] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.021, 0.970, 0.007) [env.py: 1079] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg [env.py: 1082] +05/12 13:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:53:36 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 13:53:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 13:53:37 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: 179] +05/12 13:53:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:53:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:53:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:53:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:53:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:53:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:53:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001102m [env.py: 870] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:53:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88451331 0.57884434 0.00110165] yaw=-137.3deg [env.py: 1019] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90579718 0.75901381 0.00110165] yaw=-154.7deg [env.py: 1019] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7962109 0.80961595 0.00110165] yaw=-128.5deg [env.py: 1019] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.7ms, total=260.8ms [env.py: 1075] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.579, 0.001) [env.py: 1079] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg [env.py: 1082] +05/12 13:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:53:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.927s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:53:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 92.134[deg] [grasp_sample.py: 539] +05/12 13:53:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:53:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:53:38 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 13:53:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/12 13:53:38 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: 179] +05/12 13:53:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:53:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:53:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:53:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:53:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:53:39 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:53:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:53:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 97.228[deg] [grasp_sample.py: 539] +05/12 13:53:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:53:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:53:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:53:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:54:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:54:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:54:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:54:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:54:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:54:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:54:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:54:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:54:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:54:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.93s (batch: 4.76s, save: 11.16s) [pipeline.py: 300] +05/12 13:54:25 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.65s: + episode_total: mean=206.61s, total=206.61s, count=1, min=206607.9ms, max=206607.9ms + sensor_polling: mean=441.8ms, total=132.54s, count=300, min=387.2ms, max=941.1ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11163.4ms, max=11163.4ms + physics_step: mean=26.2ms, total=7.85s, count=300, min=21.8ms, max=36.3ms + save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4764.0ms, max=4764.0ms + task_sampling: mean=647.2ms, total=647.2ms, count=1, min=647.2ms, max=647.2ms + task_specific_sample: mean=643.1ms, total=643.1ms, count=1, min=643.1ms, max=643.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=462.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=41.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:54:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:54:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:54:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:54:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:54:27 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: 178] +05/12 13:54:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:54:27 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: 256] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027920m [env.py: 870] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:54:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88436687 1.04741222 0.02791952] yaw=-182.4deg [env.py: 1019] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8976733 0.20724491 0.02791952] yaw=168.2deg [env.py: 1019] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:54:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=350.5ms, total=350.5ms [env.py: 1075] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 1.047, 0.028) [env.py: 1079] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.4 deg [env.py: 1082] +05/12 13:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:54:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:54:27 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 13:54:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:54:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 13:54:28 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: 179] +05/12 13:54:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:54:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:54:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:54:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.222s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:54:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.674[m] 93.478[deg] [grasp_sample.py: 539] +05/12 13:54:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:54:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:54:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:54:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:54:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:54:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:55:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:55:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:55:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:55:50 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: 179] +05/12 13:55:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:55:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:55:50 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.734s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:55:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.386[deg] [grasp_sample.py: 539] +05/12 13:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:55:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:55:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:55:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:56:00 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:56:04 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:56:06 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:56:28 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:56:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:56:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:56:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:56:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:56:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:56:35 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:56:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:56:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:56:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:56:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:56:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.99s (batch: 4.43s, save: 10.56s) [pipeline.py: 300] +05/12 13:56:43 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.33s: + episode_total: mean=108.30s, total=216.59s, count=2, min=5993.6ms, max=210600.3ms + sensor_polling: mean=458.8ms, total=137.63s, count=300, min=379.4ms, max=901.3ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10564.2ms, max=10564.2ms + physics_step: mean=28.6ms, total=8.59s, count=300, min=17.5ms, max=52.1ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4430.3ms, max=4430.3ms + task_sampling: mean=665.6ms, total=1.33s, count=2, min=581.5ms, max=749.6ms + task_specific_sample: mean=661.2ms, total=1.32s, count=2, min=576.0ms, max=746.4ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.2ms, max=3.7ms + mj_forward_sync: mean=620.5us, total=1.2ms, count=2, min=0.5ms, max=0.8ms + policy_setup: mean=25.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:56:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:56:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:56:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:56:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:56:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019624m [env.py: 870] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:56:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93978272 1.25173124 0.01962378] yaw=-113.0deg [env.py: 1019] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93585866 0.29810008 0.01962378] yaw=140.0deg [env.py: 1019] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:56:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=347.6ms, total=347.6ms [env.py: 1075] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 1.252, 0.020) [env.py: 1079] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.0 deg [env.py: 1082] +05/12 13:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:56:45 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 13:56:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 13:56:46 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: 179] +05/12 13:56:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:56:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.702s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:56:48 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:56:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:56:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:56:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:56:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036962m [env.py: 870] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0388431 1.14191137 0.03696176] yaw=-112.8deg [env.py: 1019] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87966937 1.14287978 0.03696176] yaw=-147.4deg [env.py: 1019] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86709394 0.24353401 0.03696176] yaw=195.0deg [env.py: 1019] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:56:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.2ms, total=162.3ms [env.py: 1075] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 1.142, 0.037) [env.py: 1079] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.8 deg [env.py: 1082] +05/12 13:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:56:50 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 13:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 13:56:50 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: 179] +05/12 13:56:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:56:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:56:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:56:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:56:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.01s (batch: 4.40s, save: 11.61s) [pipeline.py: 300] +05/12 13:56:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:56:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:56:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.62s (batch: 4.47s, save: 11.15s) [pipeline.py: 300] +05/12 13:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:51 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.11s: + episode_total: mean=187.31s, total=374.61s, count=2, min=179460.4ms, max=195151.8ms + sensor_polling: mean=455.3ms, total=264.55s, count=581, min=390.8ms, max=832.4ms + physics_step: mean=27.8ms, total=16.14s, count=581, min=21.8ms, max=39.6ms + save_trajectories: mean=11.61s, total=11.61s, count=1, min=11607.9ms, max=11607.9ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4403.8ms, max=4403.8ms + task_sampling: mean=555.9ms, total=1.11s, count=2, min=554.8ms, max=557.1ms + task_specific_sample: mean=552.1ms, total=1.10s, count=2, min=551.8ms, max=552.3ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.2ms, max=3.2ms + mj_forward_sync: mean=560.8us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=19.0us, 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] +05/12 13:56:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.57s: + episode_total: mean=193.95s, total=193.95s, count=1, min=193952.6ms, max=193952.6ms + sensor_polling: mean=447.4ms, total=134.22s, count=300, min=381.1ms, max=819.9ms + save_trajectories: mean=11.15s, total=11.15s, count=1, min=11153.5ms, max=11153.5ms + physics_step: mean=28.3ms, total=8.48s, count=300, min=21.7ms, max=63.6ms + save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4468.1ms, max=4468.1ms + task_sampling: mean=573.0ms, total=573.0ms, count=1, min=573.0ms, max=573.0ms + task_specific_sample: mean=568.4ms, total=568.4ms, count=1, min=568.4ms, max=568.4ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=484.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=31.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:56:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:56:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:56:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:56:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:56:53 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: 256] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060049m [env.py: 870] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:56:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93876892 0.34465814 0.06004911] yaw=200.9deg [env.py: 1019] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:56:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:56:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:56:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:56:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:56:53 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: 256] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004393m [env.py: 870] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:56:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95304735 0.55499457 0.06004911] yaw=-151.1deg [env.py: 1019] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84923815 0.24384487 0.06004911] yaw=183.9deg [env.py: 1019] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:56:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=182.0ms [env.py: 1075] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.345, 0.060) [env.py: 1079] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 200.9 deg [env.py: 1082] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89965528 0.39888284 0.00439312] yaw=188.9deg [env.py: 1019] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04167608 0.84514579 0.00439312] yaw=-137.0deg [env.py: 1019] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67838901 0.27809619 0.00439312] yaw=203.3deg [env.py: 1019] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:56:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=371.5ms, total=371.5ms [env.py: 1075] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.399, 0.004) [env.py: 1079] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.9 deg [env.py: 1082] +05/12 13:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:56:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:56:53 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 13:56:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 13:56:53 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: 179] +05/12 13:56:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:56:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:56:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 13:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/12 13:56:54 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: 179] +05/12 13:56:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.845s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 83.792[deg] [grasp_sample.py: 539] +05/12 13:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.085s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 80.507[deg] [grasp_sample.py: 539] +05/12 13:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:56:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:56:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:56:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:56:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:56:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:56:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:56:56 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.603[m] 102.534[deg] [grasp_sample.py: 539] +05/12 13:56:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:56:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:56:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:56:56 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: 179] +05/12 13:56:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:56:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:56:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:56:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:56:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.668s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:56:59 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 7.444[deg] [grasp_sample.py: 539] +05/12 13:56:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:57:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:57:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:09 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:57:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:57:38 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 13:57:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:57:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:57:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:57:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:57:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:57:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 13:57:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.35s (batch: 4.84s, save: 12.50s) [pipeline.py: 300] +05/12 13:57:56 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.69s: + episode_total: mean=209.56s, total=209.56s, count=1, min=209558.1ms, max=209558.1ms + sensor_polling: mean=440.8ms, total=132.23s, count=300, min=369.7ms, max=861.3ms + save_trajectories: mean=12.50s, total=12.50s, count=1, min=12504.9ms, max=12504.9ms + physics_step: mean=27.8ms, total=8.34s, count=300, min=18.2ms, max=36.9ms + save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.2ms, max=4840.2ms + task_sampling: mean=693.0ms, total=693.0ms, count=1, min=693.0ms, max=693.0ms + task_specific_sample: mean=689.0ms, total=689.0ms, count=1, min=689.0ms, max=689.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=457.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=29.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:57:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:57:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:57:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:57:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:57:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:57:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:57:58 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: 256] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085839m [env.py: 870] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:57:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64448266 0.53375464 0.08583949] yaw=-179.6deg [env.py: 1019] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93891406 0.58412259 0.08583949] yaw=-170.4deg [env.py: 1019] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72926561 0.84384443 0.08583949] yaw=-194.3deg [env.py: 1019] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:57:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms [env.py: 1075] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.534, 0.086) [env.py: 1079] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.6 deg [env.py: 1082] +05/12 13:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:57:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:57:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 13:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 13:57:59 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: 179] +05/12 13:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:58:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.987s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:58:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.597[m] 91.066[deg] [grasp_sample.py: 539] +05/12 13:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:58:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:58:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:58:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:58:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:58:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:58:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:58:41 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: 179] +05/12 13:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.880s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:58:44 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.626[deg] [grasp_sample.py: 539] +05/12 13:58:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:58:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:58:44 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: 179] +05/12 13:58:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:58:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:58:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:58:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:58:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:58:45 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.559[deg] [grasp_sample.py: 539] +05/12 13:58:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:58:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:58:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:59:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:59:01 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: 179] +05/12 13:59:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:59:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 13:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:02 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.051s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:59:02 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.090[m] 0.720[deg] [grasp_sample.py: 539] +05/12 13:59:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:59:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:59:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:59:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:59:14 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: 179] +05/12 13:59:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:59:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/12 13:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:17 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.742s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:59:17 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.398[m] 26.515[deg] [grasp_sample.py: 539] +05/12 13:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:19 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:59:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:59:20 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: 179] +05/12 13:59:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:59:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:59:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:59:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:59:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:59:20 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: 178] +05/12 13:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073460m [env.py: 870] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74158221 0.28064025 0.07345975] yaw=197.1deg [env.py: 1019] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95192915 0.14344936 0.07345975] yaw=145.9deg [env.py: 1019] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91135978 0.41902743 0.07345975] yaw=161.1deg [env.py: 1019] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.2ms, total=319.2ms [env.py: 1075] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.281, 0.073) [env.py: 1079] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.1 deg [env.py: 1082] +05/12 13:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 13:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:59:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.038s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:59:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.026[m] 0.374[deg] [grasp_sample.py: 539] +05/12 13:59:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:59:21 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 13:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 13:59:21 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: 179] +05/12 13:59:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:59:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:59:22 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:59:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:59:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 94.104[deg] [grasp_sample.py: 539] +05/12 13:59:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:59:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:59:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:59:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:59:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:59:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:59:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:59:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:59:24 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: 178] +05/12 13:59:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:59:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001781m [env.py: 870] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:59:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8072979 0.42564697 0.00178062] yaw=170.4deg [env.py: 1019] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78379821 0.68001719 0.00178062] yaw=-149.2deg [env.py: 1019] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96981436 1.06949833 0.00178062] yaw=-176.6deg [env.py: 1019] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=186.9ms, total=186.9ms [env.py: 1075] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.426, 0.002) [env.py: 1079] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg [env.py: 1082] +05/12 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:59:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:59:24 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 13:59:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 13:59:24 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: 179] +05/12 13:59:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:59:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:59:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:59:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.438[m] 86.437[deg] [grasp_sample.py: 539] +05/12 13:59:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:59:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:59:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:59:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:59:45 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:00:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:00:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:00:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:00:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:00:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:00:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:00:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:00:29 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:00:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:00:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:00:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:00:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.12s (batch: 4.58s, save: 12.54s) [pipeline.py: 300] +05/12 14:00:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.71s: + episode_total: mean=219.50s, total=219.50s, count=1, min=219498.1ms, max=219498.1ms + sensor_polling: mean=455.5ms, total=136.66s, count=300, min=383.5ms, max=906.2ms + save_trajectories: mean=12.54s, total=12.54s, count=1, min=12540.0ms, max=12540.0ms + physics_step: mean=27.9ms, total=8.37s, count=300, min=18.6ms, max=37.1ms + save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4584.4ms, max=4584.4ms + task_sampling: mean=713.6ms, total=713.6ms, count=1, min=713.6ms, max=713.6ms + task_specific_sample: mean=708.5ms, total=708.5ms, count=1, min=708.5ms, max=708.5ms + scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=648.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:00:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:00:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:00:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:00:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:00:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:00:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:00:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:00:34 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: 256] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010159m [env.py: 870] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:00:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64258926 0.30498763 0.01015882] yaw=170.1deg [env.py: 1019] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9932955 1.14563534 0.01015882] yaw=-172.7deg [env.py: 1019] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84028118 0.19251605 0.01015882] yaw=181.6deg [env.py: 1019] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:00:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.643, 0.305, 0.010) [env.py: 1079] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg [env.py: 1082] +05/12 14:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:00:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:00:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 14:00:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 14:00:35 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: 179] +05/12 14:00:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:00:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:00:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:00:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.646[m] 97.504[deg] [grasp_sample.py: 539] +05/12 14:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:00:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:00:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:00:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:00:58 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:00:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:00:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:01:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:01:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:01:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 15.63s (batch: 4.42s, save: 11.21s) [pipeline.py: 300] +05/12 14:01:14 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.57s: + episode_total: mean=195.71s, total=195.71s, count=1, min=195708.3ms, max=195708.3ms + sensor_polling: mean=456.8ms, total=137.05s, count=300, min=381.4ms, max=925.4ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11213.0ms, max=11213.0ms + physics_step: mean=28.7ms, total=8.61s, count=300, min=21.7ms, max=93.0ms + save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4421.6ms, max=4421.6ms + task_sampling: mean=566.6ms, total=566.6ms, count=1, min=566.6ms, max=566.6ms + task_specific_sample: mean=562.4ms, total=562.4ms, count=1, min=562.4ms, max=562.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=476.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:01:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:01:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:01:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:01:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:01:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:01:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:01:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039419m [env.py: 870] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:01:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81144942 0.70750325 0.03941863] yaw=-167.8deg [env.py: 1019] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96283814 1.1637068 0.03941863] yaw=-104.8deg [env.py: 1019] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86480815 0.5500166 0.03941863] yaw=-202.2deg [env.py: 1019] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=343.5ms, total=343.6ms [env.py: 1075] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.708, 0.039) [env.py: 1079] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg [env.py: 1082] +05/12 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:01:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:01:17 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 14:01:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 14:01:17 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: 179] +05/12 14:01:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:01:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:01:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:01:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 90.342[deg] [grasp_sample.py: 539] +05/12 14:01:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:01:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:01:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:01:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:01:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:01:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:01:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:01:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:01:55 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:02:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:02:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:02:17 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:02:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:02:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:02:23 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:02:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 14:02:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:02:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:02:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:02:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.35s (batch: 4.75s, save: 11.60s) [pipeline.py: 300] +05/12 14:02:34 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.68s: + episode_total: mean=115.44s, total=346.32s, count=3, min=3564.8ms, max=193958.8ms + sensor_polling: mean=446.6ms, total=248.73s, count=557, min=374.2ms, max=888.6ms + physics_step: mean=28.0ms, total=15.61s, count=557, min=21.8ms, max=53.8ms + save_trajectories: mean=11.60s, total=11.60s, count=1, min=11604.0ms, max=11604.0ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4750.0ms, max=4750.0ms + task_sampling: mean=558.7ms, total=1.68s, count=3, min=426.4ms, max=655.3ms + task_specific_sample: mean=555.1ms, total=1.67s, count=3, min=423.1ms, max=651.1ms + scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.1ms, max=2.8ms + mj_forward_sync: mean=518.7us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=19.1us, 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] +05/12 14:02:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:02:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:02:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:02:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:02:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:02:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:02:36 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: 256] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007946m [env.py: 870] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:02:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91966861 0.71057816 0.00794608] yaw=-143.9deg [env.py: 1019] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89691185 0.29590927 0.00794608] yaw=205.7deg [env.py: 1019] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84451427 0.22226618 0.00794608] yaw=148.4deg [env.py: 1019] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:02:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms [env.py: 1075] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.711, 0.008) [env.py: 1079] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg [env.py: 1082] +05/12 14:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:02:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:02:36 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 14:02:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 14:02:37 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: 179] +05/12 14:02:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:02:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:02:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.802s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:02:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 87.578[deg] [grasp_sample.py: 539] +05/12 14:02:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:02:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:02:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:02:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:02:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:02:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:02:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.00s (batch: 4.25s, save: 12.75s) [pipeline.py: 300] +05/12 14:02:41 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.10s: + episode_total: mean=173.19s, total=346.37s, count=2, min=149528.6ms, max=196843.0ms + sensor_polling: mean=470.1ms, total=238.34s, count=507, min=395.2ms, max=863.8ms + physics_step: mean=29.0ms, total=14.68s, count=507, min=19.8ms, max=75.2ms + save_trajectories: mean=12.75s, total=12.75s, count=1, min=12746.9ms, max=12746.9ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4250.6ms, max=4250.6ms + task_sampling: mean=548.4ms, total=1.10s, count=2, min=474.9ms, max=621.9ms + task_specific_sample: mean=543.9ms, total=1.09s, count=2, min=470.9ms, max=617.0ms + scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=2.0ms, max=3.4ms + mj_forward_sync: mean=536.4us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=14.1us, 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] +05/12 14:02:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:02:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:02:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:02:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:02:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:02:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:02:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043211m [env.py: 870] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:02:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12588616 1.14576105 0.0432108 ] yaw=-132.8deg [env.py: 1019] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87439793 0.29703469 0.0432108 ] yaw=147.3deg [env.py: 1019] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07971279 0.90556292 0.0432108 ] yaw=-135.1deg [env.py: 1019] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:02:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.5ms, total=161.6ms [env.py: 1075] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.126, 1.146, 0.043) [env.py: 1079] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg [env.py: 1082] +05/12 14:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:02:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:02:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 14:02:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 14:02:43 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: 179] +05/12 14:02:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:02:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:02:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.221s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:02:48 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.509[m] 85.136[deg] [grasp_sample.py: 539] +05/12 14:02:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:02:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:02:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:02:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:03:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:03:18 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:03:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:03:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:03:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:03:45 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:03:46 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:03:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:03:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:03:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:03:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:04:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:04:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:04:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.48s (batch: 4.61s, save: 11.87s) [pipeline.py: 300] +05/12 14:04:03 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.56s: + episode_total: mean=209.05s, total=209.05s, count=1, min=209045.9ms, max=209045.9ms + sensor_polling: mean=443.0ms, total=132.91s, count=300, min=371.5ms, max=836.8ms + save_trajectories: mean=11.87s, total=11.87s, count=1, min=11866.0ms, max=11866.0ms + physics_step: mean=27.2ms, total=8.16s, count=300, min=17.2ms, max=37.4ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4610.1ms, max=4610.1ms + task_sampling: mean=561.7ms, total=561.7ms, count=1, min=561.7ms, max=561.7ms + task_specific_sample: mean=557.2ms, total=557.2ms, count=1, min=557.2ms, max=557.2ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=611.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:04:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:04:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:04:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:04:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:04:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:04:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:04:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083292m [env.py: 870] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:04:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86022684 0.05246306 0.08329186] yaw=148.4deg [env.py: 1019] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10678158 1.17577326 0.08329186] yaw=-118.7deg [env.py: 1019] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81631143 0.98266512 0.08329186] yaw=-124.2deg [env.py: 1019] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:04:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=577.3ms, total=577.4ms [env.py: 1075] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.052, 0.083) [env.py: 1079] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.4 deg [env.py: 1082] +05/12 14:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:04:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:04:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 14:04:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 14:04:06 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: 179] +05/12 14:04:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:04:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:04:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.398s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:04:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.524[m] 88.758[deg] [grasp_sample.py: 539] +05/12 14:04:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:04:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:04:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:04:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:04:14 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:04:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:04:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:04:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:04:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:04:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.17s (batch: 4.58s, save: 11.59s) [pipeline.py: 300] +05/12 14:04:31 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.70s: + episode_total: mean=194.76s, total=194.76s, count=1, min=194757.8ms, max=194757.8ms + sensor_polling: mean=454.6ms, total=136.37s, count=300, min=378.3ms, max=953.7ms + save_trajectories: mean=11.59s, total=11.59s, count=1, min=11589.5ms, max=11589.5ms + physics_step: mean=26.8ms, total=8.04s, count=300, min=18.1ms, max=33.9ms + save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4580.8ms, max=4580.8ms + task_sampling: mean=699.6ms, total=699.6ms, count=1, min=699.6ms, max=699.6ms + task_specific_sample: mean=695.8ms, total=695.8ms, count=1, min=695.8ms, max=695.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=456.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:04:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:04:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:04:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:04:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:04:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:04:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:04:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077079m [env.py: 870] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:04:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71467725 0.67212906 0.07707869] yaw=-170.5deg [env.py: 1019] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:04:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.1ms, total=269.2ms [env.py: 1075] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.672, 0.077) [env.py: 1079] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg [env.py: 1082] +05/12 14:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:04:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:04:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:04:34 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 14:04:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 14:04:34 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: 179] +05/12 14:04:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:04:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:04:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:04:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 85.024[deg] [grasp_sample.py: 539] +05/12 14:04:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:04:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:04:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:04:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:05:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:05:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:05:11 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: 179] +05/12 14:05:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:05:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:05:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:05:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.648s, found feasible grasp: False [grasp_sample.py: 500] +05/12 14:05:14 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 14:05:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:05:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:05:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:05:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:05:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:05:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:05:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054519m [env.py: 870] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:05:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88046699 0.27927897 0.05451935] yaw=178.1deg [env.py: 1019] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87085224 0.7010361 0.05451935] yaw=-160.0deg [env.py: 1019] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08190715 0.91455843 0.05451935] yaw=-180.3deg [env.py: 1019] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=100.3ms, total=100.3ms [env.py: 1075] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.279, 0.055) [env.py: 1079] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.1 deg [env.py: 1082] +05/12 14:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:05:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:05:16 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 14:05:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 14:05:17 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: 179] +05/12 14:05:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:05:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:05:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:05:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.388[m] 83.663[deg] [grasp_sample.py: 539] +05/12 14:05:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:05:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:05:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:05:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:05:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 14:05:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:05:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:05:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:05:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:05:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.65s (batch: 4.65s, save: 12.00s) [pipeline.py: 300] +05/12 14:05:50 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.53s: + episode_total: mean=193.66s, total=193.66s, count=1, min=193658.9ms, max=193658.9ms + sensor_polling: mean=447.3ms, total=134.19s, count=300, min=383.0ms, max=853.6ms + save_trajectories: mean=12.00s, total=12.00s, count=1, min=12003.8ms, max=12003.8ms + physics_step: mean=27.7ms, total=8.32s, count=300, min=18.3ms, max=91.0ms + save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4650.9ms, max=4650.9ms + task_sampling: mean=533.8ms, total=533.8ms, count=1, min=533.8ms, max=533.8ms + task_specific_sample: mean=529.5ms, total=529.5ms, count=1, min=529.5ms, max=529.5ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=494.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:05:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:05:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:05:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:05:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:05:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:05:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:05:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064732m [env.py: 870] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:05:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84749395 0.94620055 0.0647322 ] yaw=-123.2deg [env.py: 1019] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75433936 0.11421093 0.0647322 ] yaw=174.2deg [env.py: 1019] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6235682 0.59363202 0.0647322 ] yaw=-157.4deg [env.py: 1019] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:05:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.7ms, total=330.7ms [env.py: 1075] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.946, 0.065) [env.py: 1079] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.2 deg [env.py: 1082] +05/12 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:05:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:05:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 14:05:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 14:05:52 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: 179] +05/12 14:05:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:05:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:05:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:05:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.629[m] 85.894[deg] [grasp_sample.py: 539] +05/12 14:05:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:05:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:05:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:05:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:06:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:06:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:06:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:06:37 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: 179] +05/12 14:06:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:06:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:06:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:06:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.317[deg] [grasp_sample.py: 539] +05/12 14:06:40 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:06:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:06:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:06:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:06:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:06:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:06:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:06:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:06:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:06:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009072m [env.py: 870] +05/12 14:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:06:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80646514 0.72365255 0.00907177] yaw=-134.3deg [env.py: 1019] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.985475 0.80285322 0.00907177] yaw=-181.8deg [env.py: 1019] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09710189 0.95942581 0.00907177] yaw=-114.7deg [env.py: 1019] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:06:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=276.7ms, total=276.8ms [env.py: 1075] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.724, 0.009) [env.py: 1079] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg [env.py: 1082] +05/12 14:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 14:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:06:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:06:42 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 14:06:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 14:06:42 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: 179] +05/12 14:06:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:06:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:06:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:06:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 82.783[deg] [grasp_sample.py: 539] +05/12 14:06:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:06:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:06:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:06:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:06:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:06:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:07:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:07:08 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: 179] +05/12 14:07:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:07:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:07:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:07:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:07:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.740[deg] [grasp_sample.py: 539] +05/12 14:07:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:07:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:07:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 14:07:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:07:20 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: 179] +05/12 14:07:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:07:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 14:07:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:07:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.281[deg] [grasp_sample.py: 539] +05/12 14:07:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:07:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:07:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:07:25 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: 179] +05/12 14:07:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:07:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:07:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.659s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:07:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.711[deg] [grasp_sample.py: 539] +05/12 14:07:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:07:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:07:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:07:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 14:07:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:07:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:07:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 14:07:42 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: 179] +05/12 14:07:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:07:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 14:07:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.658s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:07:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.711[deg] [grasp_sample.py: 539] +05/12 14:07:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:07:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:07:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:07:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:07:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.40s (batch: 4.49s, save: 12.91s) [pipeline.py: 300] +05/12 14:07:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.58s: + episode_total: mean=198.74s, total=198.74s, count=1, min=198736.7ms, max=198736.7ms + sensor_polling: mean=461.6ms, total=138.49s, count=300, min=387.7ms, max=917.3ms + save_trajectories: mean=12.91s, total=12.91s, count=1, min=12906.6ms, max=12906.6ms + physics_step: mean=28.4ms, total=8.53s, count=300, min=18.3ms, max=69.0ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4490.4ms, max=4490.4ms + task_sampling: mean=583.0ms, total=583.0ms, count=1, min=583.0ms, max=583.0ms + task_specific_sample: mean=577.8ms, total=577.8ms, count=1, min=577.8ms, max=577.8ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=836.1us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:07:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:07:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:07:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:07:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:07:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:07:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096387m [env.py: 870] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:07:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75921618 0.42986105 0.09638666] yaw=200.9deg [env.py: 1019] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:07:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=357.0ms, total=357.0ms [env.py: 1075] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.430, 0.096) [env.py: 1079] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 200.9 deg [env.py: 1082] +05/12 14:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:07:55 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 14:07:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/12 14:07:55 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: 179] +05/12 14:07:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:07:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:07:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.219s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:07:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 82.545[deg] [grasp_sample.py: 539] +05/12 14:07:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 14:07:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:07:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:07:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 14:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 14:08:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 14:08:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 14:08:00 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 14:08:00 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.95s: + episode_total: mean=157.79s, total=315.58s, count=2, min=151624.2ms, max=163951.0ms + sensor_polling: mean=462.4ms, total=227.02s, count=491, min=388.9ms, max=913.0ms + physics_step: mean=27.5ms, total=13.48s, count=491, min=14.9ms, max=85.0ms + task_sampling: mean=477.1ms, total=954.1ms, count=2, min=406.7ms, max=547.4ms + task_specific_sample: mean=472.6ms, total=945.3ms, count=2, min=403.1ms, max=542.2ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.5ms, max=3.5ms + mj_forward_sync: mean=619.6us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=27.4us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:08:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:08:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:08:02 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: 178] +05/12 14:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034447m [env.py: 870] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88934696 1.13739442 0.03444676] yaw=-167.2deg [env.py: 1019] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73200375 0.75608518 0.03444676] yaw=-160.2deg [env.py: 1019] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79704129 0.88069712 0.03444676] yaw=-117.8deg [env.py: 1019] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.3ms, total=306.4ms [env.py: 1075] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 1.137, 0.034) [env.py: 1079] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.2 deg [env.py: 1082] +05/12 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:08:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:08:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 14:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 14:08:03 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: 179] +05/12 14:08:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:08:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:08:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.707[m] 94.554[deg] [grasp_sample.py: 539] +05/12 14:08:07 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 14:08:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:08:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:08:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:08:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:08:09 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: 178] +05/12 14:08:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:08:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032320m [env.py: 870] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:08:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06912994 0.94953499 0.03232001] yaw=-140.3deg [env.py: 1019] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94633836 1.23460877 0.03232001] yaw=-130.5deg [env.py: 1019] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82409932 0.428145 0.03232001] yaw=148.9deg [env.py: 1019] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:08:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.9ms [env.py: 1075] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.069, 0.950, 0.032) [env.py: 1079] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg [env.py: 1082] +05/12 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m [env.py: 1086] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:08:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:08:09 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 14:08:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 14:08:09 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: 179] +05/12 14:08:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:08:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:08:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:08:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 90.906[deg] [grasp_sample.py: 539] +05/12 14:08:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:08:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:08:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:08:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:08:23 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 14:08:23 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.67s: + episode_total: mean=151.25s, total=151.25s, count=1, min=151252.6ms, max=151252.6ms + sensor_polling: mean=446.9ms, total=134.08s, count=300, min=375.7ms, max=843.1ms + physics_step: mean=27.2ms, total=8.17s, count=300, min=22.0ms, max=92.2ms + task_sampling: mean=674.7ms, total=674.7ms, count=1, min=674.7ms, max=674.7ms + task_specific_sample: mean=669.8ms, total=669.8ms, count=1, min=669.8ms, max=669.8ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=532.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 14:08:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:08:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:08:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:08:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:08:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 14:08:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:08:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034279m [env.py: 870] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:08:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7473381 0.7843394 0.03427859] yaw=-151.5deg [env.py: 1019] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76886128 0.105946 0.03427859] yaw=189.9deg [env.py: 1019] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11074358 1.0515262 0.03427859] yaw=-122.5deg [env.py: 1019] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:08:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.6ms, total=179.6ms [env.py: 1075] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.784, 0.034) [env.py: 1079] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg [env.py: 1082] +05/12 14:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:08:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:08:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:08:25 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 14:08:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/12 14:08:25 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: 179] +05/12 14:08:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:08:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:08:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.962s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:08:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 81.110[deg] [grasp_sample.py: 539] +05/12 14:08:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:08:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:08:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:08:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 14:08:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:08:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:08:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:08:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:09:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:09:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 14:09:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:09:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 14:09:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 14:09:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 14:09:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 14:09:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 14:09:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 14:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 14:09:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 14:09:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 18.24s (batch: 6.31s, save: 11.93s) [pipeline.py: 300] +05/12 14:09:58 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.49s: + episode_total: mean=175.42s, total=350.85s, count=2, min=154771.4ms, max=196074.3ms + sensor_polling: mean=447.1ms, total=253.53s, count=567, min=367.8ms, max=917.8ms + physics_step: mean=28.8ms, total=16.34s, count=567, min=21.6ms, max=92.7ms + save_trajectories: mean=11.93s, total=11.93s, count=1, min=11930.0ms, max=11930.0ms + save_batch_prep: mean=6.31s, total=6.31s, count=1, min=6307.9ms, max=6307.9ms + task_sampling: mean=744.5ms, total=1.49s, count=2, min=591.8ms, max=897.3ms + task_specific_sample: mean=740.0ms, total=1.48s, count=2, min=587.7ms, max=892.2ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.6ms, max=3.3ms + mj_forward_sync: mean=775.5us, total=1.6ms, count=2, min=0.6ms, max=0.9ms + policy_setup: mean=19.0us, 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] +05/12 14:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 14:09:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 14:09:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:09:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 14:09:59 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: 178] +05/12 14:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 14:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067835m [env.py: 870] +05/12 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 14:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09675645 1.16589625 0.0678345 ] yaw=-150.1deg [env.py: 1019] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89120505 0.97435287 0.0678345 ] yaw=-123.2deg [env.py: 1019] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 14:10:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=333.4ms, total=333.4ms [env.py: 1075] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 1.166, 0.068) [env.py: 1079] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg [env.py: 1082] +05/12 14:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 14:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 14:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 14:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 14:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 14:10:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 14:10:00 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 14:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 14:10:00 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: 179] +05/12 14:10:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 14:10:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 14:10:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.396s, found feasible grasp: True [grasp_sample.py: 500] +05/12 14:10:03 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.516[m] 88.376[deg] [grasp_sample.py: 539] +05/12 14:10:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 14:10:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 14:10:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_0.7_pd/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e1c97230f8c9b24e2a13ff98a82fe668a777f8c --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:491f28f624b95996c9959bdc9ffb492f94dbcd97530a04c403e24749977fae69 +size 625330014 diff --git a/fridge_m_0.7_pd/chunk_015/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_015/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..274fe924775d310740770497f38d1f17b5a3ea26 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5ae4c895038b144cf938ac396125fe1f0cbf8297fcb4f9b4c6d95bb6dac00c +size 556027031 diff --git a/fridge_m_0.7_pd/chunk_015/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_015/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7070f9962f87eb93ffd172935d65db789aff9a45 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1670d232d0aa145001d2c67fbbf3293d0c38ff83ad08a5bd51020c13d8c82a06 +size 547944588 diff --git a/fridge_m_0.7_pd/chunk_015/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_015/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..843bd3fe4d8a11d72cd5d6429a3589b1497cd1f4 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_015/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c1a4d9dc18687821d7215bb6af76d1d0864234789e818902c5a10d74b950870 +size 416073840