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not set) [pipeline.py: 640] +05/18 15:43:23 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:43:23 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:43:23 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_2house/sim_chunks/chunk_061'), + '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': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40061, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:43:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:43:23 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:43:23 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:43:24 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:43:28 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:43:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:28 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:43:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:28 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: 273] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077452m [env.py: 870] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2120347 -0.41552453 0.07745185] yaw=-131.3deg [env.py: 1019] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=59.9ms, retries=231.7ms, total=291.6ms [env.py: 1075] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.212, -0.416, 0.077) [env.py: 1079] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg [env.py: 1082] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:29 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:03 INFO: [Worker 0] Warmed up parallel IK solver in 34.147s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:44:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.998s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:44:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 95.168[deg] [grasp_sample.py: 596] +05/18 15:44:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:44:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:44:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:45 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:47:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 15:47:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:47:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:47:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:47:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 15:47:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.19s (batch: 3.24s, save: 10.95s) [pipeline.py: 300] +05/18 15:47:23 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=5.45s: + episode_total: mean=240.20s, total=240.20s, count=1, min=240195.9ms, max=240195.9ms + sensor_polling: mean=483.1ms, total=144.93s, count=300, min=465.0ms, max=597.8ms + save_trajectories: mean=10.95s, total=10.95s, count=1, min=10951.8ms, max=10951.8ms + physics_step: mean=32.1ms, total=9.64s, count=300, min=24.5ms, max=36.2ms + task_sampling: mean=5.45s, total=5.45s, count=1, min=5450.6ms, max=5450.6ms + scene_load: mean=4.82s, total=4.82s, count=1, min=4816.5ms, max=4816.5ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3235.7ms, max=3235.7ms + scene_env_create: mean=2.76s, total=2.76s, count=1, min=2758.1ms, max=2758.1ms + scene_compile: mean=1.88s, total=1.88s, count=1, min=1883.2ms, max=1883.2ms + compile_mujoco: mean=1.09s, total=1.09s, count=1, min=1086.1ms, max=1086.1ms + compile_xml_load: mean=688.5ms, total=688.5ms, count=1, min=688.5ms, max=688.5ms + task_specific_sample: mean=630.6ms, total=630.6ms, count=1, min=630.6ms, max=630.6ms + scene_init: mean=124.4ms, total=124.4ms, count=1, min=124.4ms, max=124.4ms + compile_aux_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms + compile_aux_policy_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms + scene_asset_install: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_robot_add: mean=44.4ms, total=44.4ms, count=1, min=44.4ms, max=44.4ms + asset_install_grasps: mean=37.6ms, total=37.6ms, count=1, min=37.6ms, max=37.6ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=737.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:47:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.087m, effective arm-mount z=0.773m (base_body_z=-0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086830m [env.py: 870] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02454459 -0.89784423 -0.08682976] yaw=-207.0deg [env.py: 1019] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09150125 -1.01466581 -0.08682976] yaw=190.1deg [env.py: 1019] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.29841667 -0.31909064 -0.08682976] yaw=-163.4deg [env.py: 1019] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.3ms [env.py: 1075] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.025, -0.898, -0.087) [env.py: 1079] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -207.0 deg [env.py: 1082] +05/18 15:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:25 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.536s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.696[m] 56.388[deg] [grasp_sample.py: 596] +05/18 15:47:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:48:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:11 INFO: [Worker 0] Worker 0 house 2 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:50:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 15:50:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:50:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 15:50:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.79s (batch: 3.47s, save: 11.31s) [pipeline.py: 300] +05/18 15:50:51 INFO: [Worker 0] [PROFILE] Episode 1 house 2 success=True episode_total=0.55s: + episode_total: mean=206.10s, total=206.10s, count=1, min=206099.3ms, max=206099.3ms + sensor_polling: mean=500.0ms, total=150.00s, count=300, min=465.1ms, max=622.8ms + save_trajectories: mean=11.31s, total=11.31s, count=1, min=11313.6ms, max=11313.6ms + physics_step: mean=33.7ms, total=10.10s, count=300, min=24.3ms, max=49.3ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3473.4ms, max=3473.4ms + task_sampling: mean=548.4ms, total=548.4ms, count=1, min=548.4ms, max=548.4ms + task_specific_sample: mean=543.8ms, total=543.8ms, count=1, min=543.8ms, max=543.8ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=653.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011600m [env.py: 870] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02784287 -1.37807143 -0.01159997] yaw=174.3deg [env.py: 1019] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25865655 -1.31940738 -0.01159997] yaw=156.1deg [env.py: 1019] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.07415123 -1.0695892 -0.01159997] yaw=151.9deg [env.py: 1019] +05/18 15:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=225.0ms, total=225.1ms [env.py: 1075] +05/18 15:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.028, -1.378, -0.012) [env.py: 1079] +05/18 15:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg [env.py: 1082] +05/18 15:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.144m [env.py: 1086] +05/18 15:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:53 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.080s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:57 ERROR: [Worker 0] Worker 0 house 2 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091390m [env.py: 870] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00731418 -0.38368378 0.09138989] yaw=-153.8deg [env.py: 1019] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.35329192 -0.24834698 0.09138989] yaw=-121.1deg [env.py: 1019] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25712277 -1.28168392 0.09138989] yaw=130.0deg [env.py: 1019] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.8ms, total=161.8ms [env.py: 1075] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -0.384, 0.091) [env.py: 1079] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg [env.py: 1082] +05/18 15:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.206m [env.py: 1086] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:59 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.056s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:51:03 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:51:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.060m, effective arm-mount z=0.800m (base_body_z=-0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060366m [env.py: 870] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03666507 -1.34530226 -0.06036643] yaw=145.9deg [env.py: 1019] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22423281 -0.59431148 -0.06036643] yaw=-187.4deg [env.py: 1019] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02388624 -1.27533936 -0.06036643] yaw=137.1deg [env.py: 1019] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.4ms, total=156.5ms [env.py: 1075] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.037, -1.345, -0.060) [env.py: 1079] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.9 deg [env.py: 1082] +05/18 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.123m [env.py: 1086] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:05 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.997s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:51:09 INFO: [Worker 0] Feasible grasp found 60 (originally 60): w/ 0.667[m] 91.219[deg] [grasp_sample.py: 596] +05/18 15:51:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:51:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:51:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:52:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:55 INFO: [Worker 0] Object is not in grasp! 0.00161 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:52:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:52:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:59 INFO: [Worker 0] Feasibility-checked 82 grasps in 4.108s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:59 INFO: [Worker 0] Feasible grasp found 60 (originally 60): w/ 0.063[m] 2.941[deg] [grasp_sample.py: 596] +05/18 15:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:53:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:53:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:53:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:53:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:53:25 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.981s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:53:25 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.112[m] 24.446[deg] [grasp_sample.py: 596] +05/18 15:53:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:53:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:53:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:08 INFO: [Worker 0] Worker 0 house 2 episode 4 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:54:08 INFO: [Worker 0] [PROFILE] Episode 4 house 2 success=False episode_total=1.52s: + episode_total: mean=64.37s, total=193.12s, count=3, min=4738.9ms, max=183515.6ms + sensor_polling: mean=508.8ms, total=152.64s, count=300, min=479.0ms, max=639.0ms + physics_step: mean=32.1ms, total=9.64s, count=300, min=23.2ms, max=39.1ms + task_sampling: mean=505.9ms, total=1.52s, count=3, min=471.7ms, max=561.3ms + task_specific_sample: mean=502.1ms, total=1.51s, count=3, min=468.5ms, max=556.6ms + scene_randomize: mean=2.1ms, total=6.4ms, count=3, min=1.6ms, max=3.1ms + mj_forward_sync: mean=658.1us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=21.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:10 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: 273] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032382m [env.py: 870] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05769643 -0.46322907 0.03238211] yaw=-184.8deg [env.py: 1019] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21552957 -0.91086673 0.03238211] yaw=-195.1deg [env.py: 1019] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12605581 -0.83958556 0.03238211] yaw=-193.3deg [env.py: 1019] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.7ms, total=134.7ms [env.py: 1075] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.058, -0.463, 0.032) [env.py: 1079] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.8 deg [env.py: 1082] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.219m [env.py: 1086] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:10 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.116s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.011s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:15 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015638m [env.py: 870] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08275604 -0.85721547 0.01563834] yaw=-187.7deg [env.py: 1019] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 140.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11436947 -0.8122005 0.01563834] yaw=-197.3deg [env.py: 1019] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04795204 -0.99613661 0.01563834] yaw=197.3deg [env.py: 1019] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.5ms [env.py: 1075] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -0.857, 0.016) [env.py: 1079] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.7 deg [env.py: 1082] +05/18 15:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.159m [env.py: 1086] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:17 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.122s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.997s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:21 ERROR: [Worker 0] Worker 0 house 2 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051904m [env.py: 870] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.44455643 -0.2554952 0.05190367] yaw=-120.6deg [env.py: 1019] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17513007 -0.46155248 0.05190367] yaw=-157.5deg [env.py: 1019] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14427036 -0.92961591 0.05190367] yaw=151.9deg [env.py: 1019] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.1ms, total=133.2ms [env.py: 1075] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.445, -0.255, 0.052) [env.py: 1079] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.6 deg [env.py: 1082] +05/18 15:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:23 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.121s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.284s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.652[m] 64.677[deg] [grasp_sample.py: 596] +05/18 15:54:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:55:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:57:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:57:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:22 INFO: [Worker 0] Feasibility-checked 74 grasps in 4.008s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 1.293[deg] [grasp_sample.py: 596] +05/18 15:57:24 ERROR: [Worker 0] Worker 0 house 2 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:57:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001963m [env.py: 870] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31003682 -0.01162313 -0.0019628 ] yaw=-157.3deg [env.py: 1019] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05028297 -1.04103794 -0.0019628 ] yaw=155.2deg [env.py: 1019] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.27623106 -0.29505334 -0.0019628 ] yaw=-155.9deg [env.py: 1019] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.2ms, total=191.2ms [env.py: 1075] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.310, -0.012, -0.002) [env.py: 1079] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.3 deg [env.py: 1082] +05/18 15:57:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.184m [env.py: 1086] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:26 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.005s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:30 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054097m [env.py: 870] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.03815244 -0.25213456 0.05409698] yaw=-167.8deg [env.py: 1019] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.24021416 -1.2770997 0.05409698] yaw=141.0deg [env.py: 1019] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.5ms, total=233.5ms [env.py: 1075] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -0.252, 0.054) [env.py: 1079] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg [env.py: 1082] +05/18 15:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.231m [env.py: 1086] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:32 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.127s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.056s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:37 ERROR: [Worker 0] Worker 0 house 2 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099347m [env.py: 870] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08814403 -0.81283463 -0.09934699] yaw=-201.2deg [env.py: 1019] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.04990083 -1.36394771 -0.09934699] yaw=166.0deg [env.py: 1019] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13528981 -1.34980804 -0.09934699] yaw=177.6deg [env.py: 1019] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=113.3ms, total=113.3ms [env.py: 1075] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.088, -0.813, -0.099) [env.py: 1079] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.2 deg [env.py: 1082] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.167m [env.py: 1086] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:39 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.944s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:43 ERROR: [Worker 0] Worker 0 house 2 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002889m [env.py: 870] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.00378763 -1.24200706 -0.00288919] yaw=138.8deg [env.py: 1019] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04968226 -1.01141101 -0.00288919] yaw=167.2deg [env.py: 1019] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=226.3ms, total=226.4ms [env.py: 1075] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.004, -1.242, -0.003) [env.py: 1079] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.8 deg [env.py: 1082] +05/18 15:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.126m [env.py: 1086] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:45 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.010s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:49 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:49 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 15:57:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070206m [env.py: 870] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04324965 -1.42072872 -0.0702062 ] yaw=127.8deg [env.py: 1019] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05099349 -0.48488389 -0.0702062 ] yaw=-141.5deg [env.py: 1019] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=227.3ms, total=227.4ms [env.py: 1075] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.043, -1.421, -0.070) [env.py: 1079] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 127.8 deg [env.py: 1082] +05/18 15:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.148m [env.py: 1086] +05/18 15:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:51 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.119s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.017s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:55 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003782m [env.py: 870] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.2ms, total=217.2ms [env.py: 1105] +05/18 15:57:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:57:57 ERROR: [Worker 0] Worker 0 house 2 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:57:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:58 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: 195] +05/18 15:57:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:58 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: 273] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028824m [env.py: 870] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22436271 -1.27386063 0.02882352] yaw=151.1deg [env.py: 1019] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21180516 -1.18604842 0.02882352] yaw=138.0deg [env.py: 1019] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.5ms, total=227.5ms [env.py: 1075] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.224, -1.274, 0.029) [env.py: 1079] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.1 deg [env.py: 1082] +05/18 15:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:59 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.120s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.687s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:01 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.495[m] 97.661[deg] [grasp_sample.py: 596] +05/18 15:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:58:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:00:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:00:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:51 INFO: [Worker 0] Feasibility-checked 84 grasps in 8.965s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:51 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.062[m] 8.763[deg] [grasp_sample.py: 596] +05/18 16:00:53 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:00:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:00:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036286m [env.py: 870] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03394472 -0.74252056 -0.0362859 ] yaw=-149.3deg [env.py: 1019] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20542172 -0.984989 -0.0362859 ] yaw=195.9deg [env.py: 1019] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09153158 -0.40750433 -0.0362859 ] yaw=-165.3deg [env.py: 1019] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.034, -0.743, -0.036) [env.py: 1079] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.3 deg [env.py: 1082] +05/18 16:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:55 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.334s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 105.730[deg] [grasp_sample.py: 596] +05/18 16:00:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:02:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:02:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:39 INFO: [Worker 0] Worker 0 house 2 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:04:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:04:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:04:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:04:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:04:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:04:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.70s (batch: 3.57s, save: 11.13s) [pipeline.py: 300] +05/18 16:04:19 INFO: [Worker 0] [PROFILE] Episode 15 house 2 success=True episode_total=5.06s: + episode_total: mean=54.06s, total=594.69s, count=11, min=228.7ms, max=205102.8ms + sensor_polling: mean=504.0ms, total=423.90s, count=841, min=473.4ms, max=652.2ms + physics_step: mean=32.6ms, total=27.44s, count=841, min=24.4ms, max=49.1ms + save_trajectories: mean=11.13s, total=11.13s, count=1, min=11135.0ms, max=11135.0ms + task_specific_sample: mean=476.9ms, total=5.25s, count=11, min=223.6ms, max=553.4ms + task_sampling: mean=505.6ms, total=5.06s, count=10, min=425.0ms, max=557.5ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3565.2ms, max=3565.2ms + task_sampling_failed: mean=228.6ms, total=228.6ms, count=1, min=228.6ms, max=228.6ms + scene_randomize: mean=1.7ms, total=18.9ms, count=11, min=1.5ms, max=2.4ms + mj_forward_sync: mean=640.0us, total=7.0ms, count=11, min=0.6ms, max=0.7ms + policy_setup: mean=16.9us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:04:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:21 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035116m [env.py: 870] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04599338 -1.47339731 -0.03511562] yaw=138.4deg [env.py: 1019] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms [env.py: 1075] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.046, -1.473, -0.035) [env.py: 1079] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.4 deg [env.py: 1082] +05/18 16:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.170m [env.py: 1086] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:21 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.977s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:04:25 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:04:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:27 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096287m [env.py: 870] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=216.6ms, total=216.6ms [env.py: 1105] +05/18 16:04:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:04:27 ERROR: [Worker 0] Worker 0 house 2 episode 17 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:04:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068240m [env.py: 870] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01844871 -0.24002766 -0.06824026] yaw=-144.4deg [env.py: 1019] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.1897745 -0.74570166 -0.06824026] yaw=-150.0deg [env.py: 1019] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.08937259 -0.41500118 -0.06824026] yaw=-158.8deg [env.py: 1019] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.7ms [env.py: 1075] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.018, -0.240, -0.068) [env.py: 1079] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg [env.py: 1082] +05/18 16:04:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.254m [env.py: 1086] +05/18 16:04:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:29 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.011s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:04:33 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:04:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042493m [env.py: 870] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15312578 -0.41661058 -0.04249291] yaw=-178.2deg [env.py: 1019] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00777277 -1.25120044 -0.04249291] yaw=187.6deg [env.py: 1019] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.6ms, total=225.7ms [env.py: 1075] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.153, -0.417, -0.042) [env.py: 1079] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.2 deg [env.py: 1082] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:35 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.929s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.567[m] 87.959[deg] [grasp_sample.py: 596] +05/18 16:04:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:05:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:27 INFO: [Worker 0] Worker 0 house 2 episode 19 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:07:52 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:07:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:07:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:08:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:08:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:08:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.52s (batch: 3.43s, save: 11.09s) [pipeline.py: 300] +05/18 16:08:07 INFO: [Worker 0] [PROFILE] Episode 19 house 2 success=True episode_total=1.64s: + episode_total: mean=55.54s, total=222.16s, count=4, min=228.6ms, max=212422.6ms + sensor_polling: mean=507.8ms, total=152.35s, count=300, min=483.6ms, max=662.8ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11092.0ms, max=11092.0ms + physics_step: mean=32.9ms, total=9.86s, count=300, min=25.0ms, max=49.8ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3429.9ms, max=3429.9ms + task_specific_sample: mean=462.2ms, total=1.85s, count=4, min=223.2ms, max=556.5ms + task_sampling: mean=545.2ms, total=1.64s, count=3, min=536.1ms, max=560.4ms + task_sampling_failed: mean=228.5ms, total=228.5ms, count=1, min=228.5ms, max=228.5ms + scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.5ms, max=2.4ms + mj_forward_sync: mean=639.1us, total=2.6ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=15.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:08:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:09 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: 195] +05/18 16:08:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043353m [env.py: 870] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08596571 -0.83486306 0.04335325] yaw=-174.8deg [env.py: 1019] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15393501 -0.930896 0.04335325] yaw=173.6deg [env.py: 1019] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18162084 -0.26969736 0.04335325] yaw=-117.8deg [env.py: 1019] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.3ms, total=134.4ms [env.py: 1075] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.086, -0.835, 0.043) [env.py: 1079] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.8 deg [env.py: 1082] +05/18 16:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:09 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.837s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.590[m] 73.866[deg] [grasp_sample.py: 596] +05/18 16:08:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:09:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:17 INFO: [Worker 0] Worker 0 house 2 episode 20 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:11:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:11:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:11:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:11:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:11:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:11:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.47s (batch: 3.40s, save: 11.07s) [pipeline.py: 300] +05/18 16:11:56 INFO: [Worker 0] [PROFILE] Episode 20 house 2 success=True episode_total=0.48s: + episode_total: mean=227.86s, total=227.86s, count=1, min=227860.3ms, max=227860.3ms + sensor_polling: mean=514.1ms, total=154.22s, count=300, min=487.2ms, max=670.3ms + save_trajectories: mean=11.07s, total=11.07s, count=1, min=11067.9ms, max=11067.9ms + physics_step: mean=32.5ms, total=9.75s, count=300, min=24.8ms, max=35.6ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3397.1ms, max=3397.1ms + task_sampling: mean=478.1ms, total=478.1ms, count=1, min=478.1ms, max=478.1ms + task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=627.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:11:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:11:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:11:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:11:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022549m [env.py: 870] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14009528 -0.61614527 0.02254868] yaw=-164.8deg [env.py: 1019] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09649342 -0.43657361 0.02254868] yaw=-141.1deg [env.py: 1019] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.16323245 -1.34351582 0.02254868] yaw=127.9deg [env.py: 1019] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.2ms, total=217.2ms [env.py: 1075] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.140, -0.616, 0.023) [env.py: 1079] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg [env.py: 1082] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.251m [env.py: 1086] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:58 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.127s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.014s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:03 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090100m [env.py: 870] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.50870706 -0.16306443 0.09009983] yaw=-122.5deg [env.py: 1019] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03801701 -0.7538717 0.09009983] yaw=-161.0deg [env.py: 1019] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21266494 -0.9517256 0.09009983] yaw=204.9deg [env.py: 1019] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=93.0ms, total=93.1ms [env.py: 1075] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.509, -0.163, 0.090) [env.py: 1079] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.5 deg [env.py: 1082] +05/18 16:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:04 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.202s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.597[m] 118.147[deg] [grasp_sample.py: 596] +05/18 16:12:08 ERROR: [Worker 0] Worker 0 house 2 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:12:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:09 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: 273] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038982m [env.py: 870] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.40669367 -0.10558469 0.03898186] yaw=-135.6deg [env.py: 1019] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0489659 -0.7209771 0.03898186] yaw=-190.7deg [env.py: 1019] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01022078 -0.91619352 0.03898186] yaw=169.6deg [env.py: 1019] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=149.8ms, total=149.8ms [env.py: 1075] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.407, -0.106, 0.039) [env.py: 1079] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.6 deg [env.py: 1082] +05/18 16:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:10 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.959s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:14 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049958m [env.py: 870] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10548115 -0.83413693 0.04995816] yaw=-183.2deg [env.py: 1019] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19550869 -0.8875074 0.04995816] yaw=-171.2deg [env.py: 1019] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17352148 -1.06175737 0.04995816] yaw=198.8deg [env.py: 1019] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=132.7ms, total=132.8ms [env.py: 1075] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.105, -0.834, 0.050) [env.py: 1079] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg [env.py: 1082] +05/18 16:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:16 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.436s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 67.229[deg] [grasp_sample.py: 596] +05/18 16:12:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:13:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:06 INFO: [Worker 0] Worker 0 house 2 episode 24 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:15:31 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:15:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:15:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:15:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:15:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:15:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.56s (batch: 3.45s, save: 11.11s) [pipeline.py: 300] +05/18 16:15:46 INFO: [Worker 0] [PROFILE] Episode 24 house 2 success=True episode_total=1.86s: + episode_total: mean=55.85s, total=223.38s, count=4, min=3672.8ms, max=210275.5ms + sensor_polling: mean=511.4ms, total=153.43s, count=300, min=482.0ms, max=659.6ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11110.9ms, max=11110.9ms + physics_step: mean=34.5ms, total=10.34s, count=300, min=24.4ms, max=50.8ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3449.1ms, max=3449.1ms + task_sampling: mean=464.3ms, total=1.86s, count=4, min=406.9ms, max=545.6ms + task_specific_sample: mean=460.5ms, total=1.84s, count=4, min=403.2ms, max=541.0ms + scene_randomize: mean=2.2ms, total=8.7ms, count=4, min=1.5ms, max=3.1ms + mj_forward_sync: mean=645.2us, total=2.6ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=16.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:47 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047439m [env.py: 870] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19175023 -0.18622479 -0.04743928] yaw=-162.7deg [env.py: 1019] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18160418 -1.23269695 -0.04743928] yaw=150.9deg [env.py: 1019] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.54581255 -0.21492797 -0.04743928] yaw=-122.5deg [env.py: 1019] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.6ms, total=100.6ms [env.py: 1075] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.186, -0.047) [env.py: 1079] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg [env.py: 1082] +05/18 16:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.145m [env.py: 1086] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:47 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.016s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:52 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062843m [env.py: 870] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11677085 -0.57735217 -0.06284343] yaw=-181.8deg [env.py: 1019] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.4ms, total=229.5ms [env.py: 1075] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -0.577, -0.063) [env.py: 1079] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.8 deg [env.py: 1082] +05/18 16:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.238m [env.py: 1086] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:54 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.041s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:58 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.075599m [env.py: 870] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13595874 -0.6488127 -0.07559907] yaw=-166.0deg [env.py: 1019] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.11882386 -1.02888879 -0.07559907] yaw=188.5deg [env.py: 1019] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15297029 -1.08261906 -0.07559907] yaw=164.2deg [env.py: 1019] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=169.5ms, total=169.6ms [env.py: 1075] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.136, -0.649, -0.076) [env.py: 1079] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg [env.py: 1082] +05/18 16:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:00 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.440[m] 79.570[deg] [grasp_sample.py: 596] +05/18 16:16:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:16:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:17:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:45 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:19:08 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:19:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:19:08 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/18 16:19:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:19:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:19:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.07s (batch: 3.40s, save: 10.67s) [pipeline.py: 300] +05/18 16:19:23 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=True episode_total=1.46s: + episode_total: mean=70.96s, total=212.89s, count=3, min=4660.1ms, max=203464.2ms + sensor_polling: mean=517.0ms, total=149.94s, count=290, min=495.4ms, max=671.7ms + save_trajectories: mean=10.67s, total=10.67s, count=1, min=10671.6ms, max=10671.6ms + physics_step: mean=33.9ms, total=9.83s, count=290, min=24.5ms, max=53.3ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3395.6ms, max=3395.6ms + task_sampling: mean=485.6ms, total=1.46s, count=3, min=431.9ms, max=544.4ms + task_specific_sample: mean=481.9ms, total=1.45s, count=3, min=428.1ms, max=541.1ms + scene_randomize: mean=2.1ms, total=6.4ms, count=3, min=1.5ms, max=2.5ms + mj_forward_sync: mean=615.6us, total=1.8ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:24 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088650m [env.py: 870] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28982881 -0.01569139 0.08865014] yaw=-142.7deg [env.py: 1019] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00873642 -1.30662175 0.08865014] yaw=168.5deg [env.py: 1019] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18160472 -0.61147155 0.08865014] yaw=-179.4deg [env.py: 1019] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms [env.py: 1075] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.290, -0.016, 0.089) [env.py: 1079] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg [env.py: 1082] +05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m [env.py: 1086] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:25 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.008s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:19:29 ERROR: [Worker 0] Worker 0 house 2 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:30 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: 273] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042038m [env.py: 870] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15634315 -1.19723652 0.04203766] yaw=188.5deg [env.py: 1019] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04726312 -1.05533845 0.04203766] yaw=163.1deg [env.py: 1019] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03818413 -1.03558189 0.04203766] yaw=186.8deg [env.py: 1019] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1075] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.156, -1.197, 0.042) [env.py: 1079] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg [env.py: 1082] +05/18 16:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:31 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.569s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 88.632[deg] [grasp_sample.py: 596] +05/18 16:19:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:20:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:20:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:22:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:22:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:26 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.081s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:26 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.606[deg] [grasp_sample.py: 596] +05/18 16:22:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:22:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:49 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.943s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:49 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.660[deg] [grasp_sample.py: 596] +05/18 16:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:23:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:23:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:11 INFO: [Worker 0] Feasibility-checked 82 grasps in 3.021s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:11 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.100[m] 0.658[deg] [grasp_sample.py: 596] +05/18 16:23:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:17 INFO: [Worker 0] Worker 0 house 2 episode 29 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:23:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:23:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:23:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:23:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:23:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:23:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.28s (batch: 3.42s, save: 10.86s) [pipeline.py: 300] +05/18 16:23:56 INFO: [Worker 0] [PROFILE] Episode 29 house 2 success=True episode_total=1.05s: + episode_total: mean=135.42s, total=270.84s, count=2, min=4788.8ms, max=266048.1ms + sensor_polling: mean=517.2ms, total=155.16s, count=300, min=488.2ms, max=659.8ms + save_trajectories: mean=10.86s, total=10.86s, count=1, min=10859.1ms, max=10859.1ms + physics_step: mean=32.8ms, total=9.83s, count=300, min=22.2ms, max=51.2ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3424.1ms, max=3424.1ms + task_sampling: mean=523.8ms, total=1.05s, count=2, min=508.9ms, max=538.7ms + task_specific_sample: mean=520.1ms, total=1.04s, count=2, min=505.5ms, max=534.8ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.4ms + mj_forward_sync: mean=607.3us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:23:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:58 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: 273] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031902m [env.py: 870] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11953932 -0.07597949 0.03190243] yaw=-111.0deg [env.py: 1019] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00457238 -0.94845574 0.03190243] yaw=159.7deg [env.py: 1019] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18406617 -1.37022208 0.03190243] yaw=140.6deg [env.py: 1019] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.6ms [env.py: 1075] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.120, -0.076, 0.032) [env.py: 1079] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.0 deg [env.py: 1082] +05/18 16:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.272m [env.py: 1086] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:58 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.003s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:24:03 ERROR: [Worker 0] Worker 0 house 2 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044334m [env.py: 870] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.16930374 -1.32226858 0.04433386] yaw=152.9deg [env.py: 1019] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22497938 -1.32288995 0.04433386] yaw=148.9deg [env.py: 1019] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=220.9ms, total=221.0ms [env.py: 1075] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.169, -1.322, 0.044) [env.py: 1079] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg [env.py: 1082] +05/18 16:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:04 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.581s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:06 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.510[m] 89.592[deg] [grasp_sample.py: 596] +05/18 16:24:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:25:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:25:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:26:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:27 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.876s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.036[m] 8.901[deg] [grasp_sample.py: 596] +05/18 16:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:10 INFO: [Worker 0] Worker 0 house 2 episode 31 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:27:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 16:27:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:27:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:27:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:27:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 16:27:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.46s (batch: 3.40s, save: 11.06s) [pipeline.py: 300] +05/18 16:27:49 INFO: [Worker 0] [PROFILE] Episode 31 house 2 success=True episode_total=1.05s: + episode_total: mean=114.88s, total=229.76s, count=2, min=4729.8ms, max=225025.9ms + sensor_polling: mean=516.6ms, total=154.98s, count=300, min=489.8ms, max=691.1ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11057.2ms, max=11057.2ms + physics_step: mean=32.5ms, total=9.74s, count=300, min=23.3ms, max=41.1ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3398.0ms, max=3398.0ms + task_sampling: mean=523.6ms, total=1.05s, count=2, min=514.0ms, max=533.2ms + task_specific_sample: mean=519.8ms, total=1.04s, count=2, min=510.0ms, max=529.6ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms + mj_forward_sync: mean=667.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002518m [env.py: 870] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23179129 0.0152944 -0.00251823] yaw=-104.1deg [env.py: 1019] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11375396 -0.53889513 -0.00251823] yaw=-156.7deg [env.py: 1019] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05787087 -0.9865578 -0.00251823] yaw=192.3deg [env.py: 1019] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.4ms [env.py: 1075] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.232, 0.015, -0.003) [env.py: 1079] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.1 deg [env.py: 1082] +05/18 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.256m [env.py: 1086] +05/18 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:51 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.047s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:55 ERROR: [Worker 0] Worker 0 house 2 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080781m [env.py: 870] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 140.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02417432 -0.78107966 -0.08078064] yaw=-187.8deg [env.py: 1019] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.41613996 0.09270646 -0.08078064] yaw=-105.9deg [env.py: 1019] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19896401 -0.60408153 -0.08078064] yaw=-153.9deg [env.py: 1019] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.5ms, total=154.6ms [env.py: 1075] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.024, -0.781, -0.081) [env.py: 1079] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.8 deg [env.py: 1082] +05/18 16:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.107m [env.py: 1086] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:57 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.775s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.821[m] 93.203[deg] [grasp_sample.py: 596] +05/18 16:28:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:29:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:29:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.018s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:54 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.156[m] 26.541[deg] [grasp_sample.py: 596] +05/18 16:29:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:56 INFO: [Worker 0] Worker 0 house 2 episode 33 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:30:56 INFO: [Worker 0] [PROFILE] Episode 33 house 2 success=False episode_total=0.97s: + episode_total: mean=91.98s, total=183.96s, count=2, min=4769.6ms, max=179191.9ms + sensor_polling: mean=511.6ms, total=153.47s, count=300, min=496.9ms, max=660.1ms + physics_step: mean=31.9ms, total=9.58s, count=300, min=24.6ms, max=57.6ms + task_sampling: mean=484.8ms, total=969.7ms, count=2, min=475.4ms, max=494.2ms + task_specific_sample: mean=480.6ms, total=961.3ms, count=2, min=471.0ms, max=490.3ms + scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=2.2ms, max=2.6ms + mj_forward_sync: mean=640.3us, total=1.3ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:30:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093522m [env.py: 870] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16307374 -1.15927603 -0.09352197] yaw=176.9deg [env.py: 1019] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05583225 -0.19420397 -0.09352197] yaw=-159.0deg [env.py: 1019] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.28778179 -0.46586579 -0.09352197] yaw=-159.7deg [env.py: 1019] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.2ms [env.py: 1075] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.163, -1.159, -0.094) [env.py: 1079] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg [env.py: 1082] +05/18 16:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/18 16:30:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:58 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.282s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 119.494[deg] [grasp_sample.py: 596] +05/18 16:31:01 ERROR: [Worker 0] Worker 0 house 2 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035064m [env.py: 870] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23657 free points within sampling radius [env.py: 907] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.46311678 -0.19795672 -0.0350641 ] yaw=-108.8deg [env.py: 1019] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11333303 -1.31393479 -0.0350641 ] yaw=172.2deg [env.py: 1019] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.35439316 -0.36946234 -0.0350641 ] yaw=-115.2deg [env.py: 1019] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.7ms, total=195.8ms [env.py: 1075] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.463, -0.198, -0.035) [env.py: 1079] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.8 deg [env.py: 1082] +05/18 16:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:03 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.938s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:07 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.674[m] 111.416[deg] [grasp_sample.py: 596] +05/18 16:31:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:32:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:33:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:33:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:40 INFO: [Worker 0] Feasibility-checked 82 grasps in 4.075s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:40 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.032[m] 4.013[deg] [grasp_sample.py: 596] +05/18 16:33:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] diff --git a/fridge_m_2house/sim/house_2/chunk_061/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_061/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..724f2ab73ef069f28b41eaf0c6ca85880e904495 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_061/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b709630e69609030e46905e00a5f99116f54fbdc5c59369ba7f77e30bf4ac89a +size 678840852