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sha256:8c0e02cf4f3bf990944ddf66dacc105bd381c1d08b490973a558eff39859fcd4 +size 144588 diff --git a/fridge_m_2house/sim/house_2/chunk_098/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_2/chunk_098/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b91be1287f6a095b054ff8b29843179912e9bc47 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_098/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a74a67c97f7d9e59e0ca2e7826483ff0c277776952a653446921c83d4fdc9d16 +size 353372 diff --git a/fridge_m_2house/sim/house_2/chunk_098/experiment_config_20260518_154302.pkl b/fridge_m_2house/sim/house_2/chunk_098/experiment_config_20260518_154302.pkl new file mode 100644 index 0000000000000000000000000000000000000000..bec3ecea045cc5627ae1e198ae7dae54bded7dd0 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_098/experiment_config_20260518_154302.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bfdc0b8ff085db087d2b9adb312386a136b67a3e973ebbf0853dad1368d90df +size 8153 diff --git a/fridge_m_2house/sim/house_2/chunk_098/running_log.log b/fridge_m_2house/sim/house_2/chunk_098/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..2671edfc052517eabb93fdee59d8cafff7196941 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_098/running_log.log @@ -0,0 +1,2369 @@ +05/18 15:43:02 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 15:43:02 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 15:43:02 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:43:02 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_098'), + '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': 40098, + '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 15:43:02 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 15:43:02 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:43:02 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:43:03 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:08 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 15:43:08 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:43:08 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:08 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 15:43:08 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078744m [env.py: 870] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:08 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 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1915432 -0.34941709 0.07874426] yaw=-138.5deg [env.py: 1019] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19841285 -0.81081775 0.07874426] yaw=-193.3deg [env.py: 1019] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32134671 -0.22772437 0.07874426] yaw=-143.8deg [env.py: 1019] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=26.3ms, retries=234.7ms, total=261.1ms [env.py: 1075] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.349, 0.079) [env.py: 1079] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg [env.py: 1082] +05/18 15:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:08 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:46 INFO: [Worker 0] Warmed up parallel IK solver in 37.541s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:46 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 15:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.935s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.650[m] 85.730[deg] [grasp_sample.py: 596] +05/18 15:43:53 ERROR: [Worker 0] Worker 0 house 2 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:43:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:43:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:54 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 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069597m [env.py: 870] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.47427309 0.00749318 -0.06959662] yaw=-102.8deg [env.py: 1019] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08153983 -1.29007041 -0.06959662] yaw=156.0deg [env.py: 1019] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.11166319 -1.04089811 -0.06959662] yaw=196.4deg [env.py: 1019] +05/18 15:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.5ms [env.py: 1075] +05/18 15:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.474, 0.007, -0.070) [env.py: 1079] +05/18 15:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.8 deg [env.py: 1082] +05/18 15:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.101m [env.py: 1086] +05/18 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:55 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:55 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 15:43:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.935s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:00 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:02 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 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029397m [env.py: 870] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05591277 -1.40918991 0.02939675] yaw=170.6deg [env.py: 1019] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.5010703 -0.10388804 0.02939675] yaw=-145.5deg [env.py: 1019] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.0ms, total=216.1ms [env.py: 1075] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.056, -1.409, 0.029) [env.py: 1079] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg [env.py: 1082] +05/18 15:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m [env.py: 1086] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:02 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:44:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.041s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:07 ERROR: [Worker 0] Worker 0 house 2 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:09 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 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051769m [env.py: 870] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19611859 -0.16680094 0.05176887] yaw=-145.5deg [env.py: 1019] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.11740809 -0.73536052 0.05176887] yaw=-192.6deg [env.py: 1019] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07309085 -0.62688372 0.05176887] yaw=-155.5deg [env.py: 1019] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.3ms, total=108.4ms [env.py: 1075] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.196, -0.167, 0.052) [env.py: 1079] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.5 deg [env.py: 1082] +05/18 15:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.154m [env.py: 1086] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:10 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:10 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 15:44:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.955s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:15 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:16 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 15:44:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087876m [env.py: 870] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=208.2ms, total=208.3ms [env.py: 1105] +05/18 15:44:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:44:17 ERROR: [Worker 0] Worker 0 house 2 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:44:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043293m [env.py: 870] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=215.4ms, total=215.4ms [env.py: 1105] +05/18 15:44:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:44:18 ERROR: [Worker 0] Worker 0 house 2 episode 5 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:44:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013334m [env.py: 870] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21167253 -0.21341872 -0.01333442] yaw=-163.1deg [env.py: 1019] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21821076 -0.19785271 -0.01333442] yaw=-113.5deg [env.py: 1019] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.8ms, total=232.8ms [env.py: 1075] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.212, -0.213, -0.013) [env.py: 1079] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.1 deg [env.py: 1082] +05/18 15:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m [env.py: 1086] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:21 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:21 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 15:44:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.995s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:26 ERROR: [Worker 0] Worker 0 house 2 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:28 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 15:44:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027369m [env.py: 870] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.40676977 0.12134974 0.02736871] yaw=-112.7deg [env.py: 1019] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15947589 -0.91003296 0.02736871] yaw=-187.9deg [env.py: 1019] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07330226 -0.34634604 0.02736871] yaw=-161.3deg [env.py: 1019] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.9ms [env.py: 1075] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.407, 0.121, 0.027) [env.py: 1079] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.7 deg [env.py: 1082] +05/18 15:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.234m [env.py: 1086] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:28 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:28 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 15:44:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.942s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:33 ERROR: [Worker 0] Worker 0 house 2 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:35 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 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003154m [env.py: 870] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06255477 -1.39263925 -0.003154 ] yaw=131.0deg [env.py: 1019] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 136.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.3584038 -0.28580259 -0.003154 ] yaw=-149.8deg [env.py: 1019] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09961128 -0.97712804 -0.003154 ] yaw=188.3deg [env.py: 1019] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms [env.py: 1075] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -1.393, -0.003) [env.py: 1079] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 131.0 deg [env.py: 1082] +05/18 15:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.233m [env.py: 1086] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:35 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:44:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.922s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:41 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045515m [env.py: 870] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06828851 -0.98290732 -0.04551549] yaw=175.1deg [env.py: 1019] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02015408 -0.24237117 -0.04551549] yaw=-173.3deg [env.py: 1019] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12545063 -1.26983069 -0.04551549] yaw=158.3deg [env.py: 1019] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.1ms [env.py: 1075] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -0.983, -0.046) [env.py: 1079] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.1 deg [env.py: 1082] +05/18 15:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:43 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:44:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:44:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 91.858[deg] [grasp_sample.py: 596] +05/18 15:44:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:44:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:44:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:34 INFO: [Worker 0] Worker 0 house 2 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:47:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 15:47:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:47:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:48:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:48:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 15:48:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.46s (batch: 3.66s, save: 10.80s) [pipeline.py: 300] +05/18 15:48:13 INFO: [Worker 0] [PROFILE] Episode 9 house 2 success=True episode_total=9.56s: + episode_total: mean=29.51s, total=295.13s, count=10, min=219.9ms, max=210240.0ms + sensor_polling: mean=516.7ms, total=155.01s, count=300, min=488.5ms, max=622.7ms + save_trajectories: mean=10.80s, total=10.80s, count=1, min=10799.2ms, max=10799.2ms + physics_step: mean=33.3ms, total=9.98s, count=300, min=24.8ms, max=49.1ms + task_sampling: mean=1.19s, total=9.56s, count=8, min=408.7ms, max=6024.1ms + scene_load: mean=5.42s, total=5.42s, count=1, min=5422.8ms, max=5422.8ms + task_specific_sample: mean=454.7ms, total=4.55s, count=10, min=215.0ms, max=597.5ms + scene_env_create: mean=3.91s, total=3.91s, count=1, min=3906.3ms, max=3906.3ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3662.0ms, max=3662.0ms + scene_compile: mean=1.31s, total=1.31s, count=1, min=1308.0ms, max=1308.0ms + compile_mujoco: mean=981.7ms, total=981.7ms, count=1, min=981.7ms, max=981.7ms + task_sampling_failed: mean=223.3ms, total=446.7ms, count=2, min=219.8ms, max=226.9ms + compile_xml_load: mean=238.1ms, total=238.1ms, count=1, min=238.1ms, max=238.1ms + scene_init: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms + compile_aux_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + compile_aux_policy_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + scene_asset_install: mean=68.5ms, total=68.5ms, count=1, min=68.5ms, max=68.5ms + asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms + scene_randomize: mean=1.7ms, total=17.0ms, count=10, min=1.5ms, max=2.4ms + asset_install_objects: mean=13.4ms, total=13.4ms, count=1, min=13.4ms, max=13.4ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + mj_forward_sync: mean=644.5us, total=6.4ms, count=10, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=24.3us, total=0.2ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:48:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:14 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079946m [env.py: 870] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02489453 -0.73549463 -0.07994611] yaw=-195.7deg [env.py: 1019] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.4ms, total=230.5ms [env.py: 1075] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -0.735, -0.080) [env.py: 1079] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.7 deg [env.py: 1082] +05/18 15:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.114m [env.py: 1086] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:15 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.649s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:22 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.915[m] 145.834[deg] [grasp_sample.py: 596] +05/18 15:48:23 ERROR: [Worker 0] Worker 0 house 2 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:48:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:25 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 15:48:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026417m [env.py: 870] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06012244 -0.98360519 0.02641742] yaw=186.8deg [env.py: 1019] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00697035 -0.31128787 0.02641742] yaw=-163.2deg [env.py: 1019] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.24712132 -0.38801605 0.02641742] yaw=-169.3deg [env.py: 1019] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.2ms, total=187.3ms [env.py: 1075] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.060, -0.984, 0.026) [env.py: 1079] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg [env.py: 1082] +05/18 15:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.136m [env.py: 1086] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:26 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:26 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 15:48:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.974s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:48:31 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:48:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:32 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 15:48:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006627m [env.py: 870] +05/18 15:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10266852 -0.88962167 -0.00662671] yaw=-182.1deg [env.py: 1019] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09849068 -1.11914849 -0.00662671] yaw=166.6deg [env.py: 1019] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.5ms, total=220.6ms [env.py: 1075] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -0.890, -0.007) [env.py: 1079] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.1 deg [env.py: 1082] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m [env.py: 1086] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:33 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:33 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 15:48:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.998s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:48:38 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:48:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094842m [env.py: 870] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20056451 -0.95419294 0.09484164] yaw=158.3deg [env.py: 1019] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15685489 -1.07817344 0.09484164] yaw=144.5deg [env.py: 1019] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.3ms [env.py: 1075] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.201, -0.954, 0.095) [env.py: 1079] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.3 deg [env.py: 1082] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:41 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.640s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:42 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.520[m] 100.146[deg] [grasp_sample.py: 596] +05/18 15:48:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:53 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 15:49:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 14.692s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:08 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.311[m] 14.773[deg] [grasp_sample.py: 596] +05/18 15:50:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:57 INFO: [Worker 0] Worker 0 house 2 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:52:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 15:52:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:52:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:52:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 15:52:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.25s (batch: 3.69s, save: 10.56s) [pipeline.py: 300] +05/18 15:52:35 INFO: [Worker 0] [PROFILE] Episode 13 house 2 success=True episode_total=2.16s: + episode_total: mean=63.93s, total=255.71s, count=4, min=5667.5ms, max=235147.8ms + sensor_polling: mean=497.4ms, total=149.22s, count=300, min=463.6ms, max=637.3ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10564.5ms, max=10564.5ms + physics_step: mean=31.6ms, total=9.48s, count=300, min=26.8ms, max=48.0ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3685.7ms, max=3685.7ms + task_sampling: mean=541.2ms, total=2.16s, count=4, min=501.3ms, max=589.3ms + task_specific_sample: mean=537.4ms, total=2.15s, count=4, min=497.5ms, max=585.5ms + scene_randomize: mean=2.1ms, total=8.4ms, count=4, min=1.7ms, max=2.7ms + mj_forward_sync: mean=677.1us, total=2.7ms, count=4, min=0.6ms, max=0.8ms + policy_setup: mean=17.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:52:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:37 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 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099055m [env.py: 870] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20358404 -1.05982565 -0.09905547] yaw=196.4deg [env.py: 1019] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.6ms [env.py: 1075] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.060, -0.099) [env.py: 1079] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.4 deg [env.py: 1082] +05/18 15:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.286m [env.py: 1086] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:37 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.827s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:52:42 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:52:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:44 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 15:52:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.072311m [env.py: 870] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10487831 -0.51002579 -0.0723106 ] yaw=-175.5deg [env.py: 1019] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03760628 -0.71045765 -0.0723106 ] yaw=-184.8deg [env.py: 1019] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05120111 -0.20622222 -0.0723106 ] yaw=-157.2deg [env.py: 1019] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.6ms, total=164.7ms [env.py: 1075] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.105, -0.510, -0.072) [env.py: 1079] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg [env.py: 1082] +05/18 15:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:45 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:45 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 15:52:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 10.243s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:55 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.545[m] 77.617[deg] [grasp_sample.py: 596] +05/18 15:52:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:53:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:54:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:42 INFO: [Worker 0] Worker 0 house 2 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:56:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 15:56:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:56:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:56:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 15:56:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 13.78s (batch: 3.76s, save: 10.03s) [pipeline.py: 300] +05/18 15:56:19 INFO: [Worker 0] [PROFILE] Episode 15 house 2 success=True episode_total=1.02s: + episode_total: mean=110.30s, total=220.60s, count=2, min=5595.0ms, max=215004.2ms + sensor_polling: mean=510.5ms, total=153.15s, count=300, min=471.2ms, max=642.2ms + save_trajectories: mean=10.03s, total=10.03s, count=1, min=10026.7ms, max=10026.7ms + physics_step: mean=33.3ms, total=10.00s, count=300, min=24.0ms, max=39.2ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3757.3ms, max=3757.3ms + task_sampling: mean=509.0ms, total=1.02s, count=2, min=472.7ms, max=545.3ms + task_specific_sample: mean=505.3ms, total=1.01s, count=2, min=469.4ms, max=541.2ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.5ms + mj_forward_sync: mean=662.3us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:56:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:21 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:21 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 15:56:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025509m [env.py: 870] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27610316 0.03556794 -0.02550897] yaw=-131.9deg [env.py: 1019] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0909941 -1.44874845 -0.02550897] yaw=158.7deg [env.py: 1019] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.54033131 -0.15889558 -0.02550897] yaw=-103.4deg [env.py: 1019] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.9ms, total=165.9ms [env.py: 1075] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.276, 0.036, -0.026) [env.py: 1079] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg [env.py: 1082] +05/18 15:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.242m [env.py: 1086] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:21 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:21 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 15:56:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.911s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:26 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:28 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 15:56:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027114m [env.py: 870] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15521138 -0.79709632 -0.02711436] yaw=-163.2deg [env.py: 1019] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.43276231 -0.00645689 -0.02711436] yaw=-110.4deg [env.py: 1019] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 136.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.41403859 -0.28424674 -0.02711436] yaw=-157.0deg [env.py: 1019] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=215.2ms, total=215.2ms [env.py: 1075] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -0.797, -0.027) [env.py: 1079] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg [env.py: 1082] +05/18 15:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.235m [env.py: 1086] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:29 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:34 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.085m, effective arm-mount z=0.775m (base_body_z=-0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.084839m [env.py: 870] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06280353 -0.32570656 -0.0848387 ] yaw=-129.4deg [env.py: 1019] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24779676 -0.50348781 -0.0848387 ] yaw=-145.0deg [env.py: 1019] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.12054757 -0.77028651 -0.0848387 ] yaw=-152.7deg [env.py: 1019] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.7ms, total=166.7ms [env.py: 1075] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.063, -0.326, -0.085) [env.py: 1079] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.4 deg [env.py: 1082] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.171m [env.py: 1086] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:36 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.822s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:41 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031084m [env.py: 870] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10075553 -0.08164459 -0.03108431] yaw=-161.0deg [env.py: 1019] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.35589792 -0.17726263 -0.03108431] yaw=-156.7deg [env.py: 1019] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.37694391 -0.32071341 -0.03108431] yaw=-121.2deg [env.py: 1019] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.6ms, total=179.6ms [env.py: 1075] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.101, -0.082, -0.031) [env.py: 1079] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.0 deg [env.py: 1082] +05/18 15:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.282m [env.py: 1086] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:43 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.986s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:48 ERROR: [Worker 0] Worker 0 house 2 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078022m [env.py: 870] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10244034 -1.28531242 -0.07802219] yaw=132.7deg [env.py: 1019] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.33703394 -0.40627695 -0.07802219] yaw=-143.2deg [env.py: 1019] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1082504 -0.78802697 -0.07802219] yaw=-164.8deg [env.py: 1019] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.3ms [env.py: 1075] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.102, -1.285, -0.078) [env.py: 1079] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.7 deg [env.py: 1082] +05/18 15:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:51 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:51 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 15:56:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.064s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:56 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.738[m] 93.268[deg] [grasp_sample.py: 596] +05/18 15:56:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:57 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 15:58:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:58:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:55 INFO: [Worker 0] Worker 0 house 2 episode 20 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:00:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:00:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:00:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:00:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:00:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:00:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.25s (batch: 3.67s, save: 10.58s) [pipeline.py: 300] +05/18 16:00:33 INFO: [Worker 0] [PROFILE] Episode 20 house 2 success=True episode_total=2.46s: + episode_total: mean=49.17s, total=245.85s, count=5, min=5506.1ms, max=223320.5ms + sensor_polling: mean=507.5ms, total=152.26s, count=300, min=464.7ms, max=647.4ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10576.3ms, max=10576.3ms + physics_step: mean=31.7ms, total=9.50s, count=300, min=25.4ms, max=47.2ms + save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3673.9ms, max=3673.9ms + task_sampling: mean=491.8ms, total=2.46s, count=5, min=463.5ms, max=518.1ms + task_specific_sample: mean=488.1ms, total=2.44s, count=5, min=460.4ms, max=514.6ms + scene_randomize: mean=2.0ms, total=9.9ms, count=5, min=1.5ms, max=2.9ms + mj_forward_sync: mean=631.5us, total=3.2ms, count=5, min=0.6ms, max=0.7ms + policy_setup: mean=17.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:00:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:35 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 16:00:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020158m [env.py: 870] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12003321 -1.02422241 -0.02015844] yaw=197.2deg [env.py: 1019] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1028576 -0.69662334 -0.02015844] yaw=-190.0deg [env.py: 1019] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15211013 -0.9439473 -0.02015844] yaw=195.1deg [env.py: 1019] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.2ms, total=193.3ms [env.py: 1075] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.120, -1.024, -0.020) [env.py: 1079] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.2 deg [env.py: 1082] +05/18 16:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:36 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.473s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:37 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.595[m] 84.587[deg] [grasp_sample.py: 596] +05/18 16:00:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:01:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:24 INFO: [Worker 0] Worker 0 house 2 episode 21 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:03:47 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:03:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:03:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:04:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.06s (batch: 3.75s, save: 10.31s) [pipeline.py: 300] +05/18 16:04:02 INFO: [Worker 0] [PROFILE] Episode 21 house 2 success=True episode_total=0.52s: + episode_total: mean=206.35s, total=206.35s, count=1, min=206349.1ms, max=206349.1ms + sensor_polling: mean=512.7ms, total=153.81s, count=300, min=479.4ms, max=649.8ms + save_trajectories: mean=10.31s, total=10.31s, count=1, min=10308.9ms, max=10308.9ms + physics_step: mean=31.9ms, total=9.58s, count=300, min=27.8ms, max=39.2ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3749.4ms, max=3749.4ms + task_sampling: mean=522.9ms, total=522.9ms, count=1, min=522.9ms, max=522.9ms + task_specific_sample: mean=518.7ms, total=518.7ms, count=1, min=518.7ms, max=518.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=692.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:03 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 16:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001208m [env.py: 870] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.38466115 0.06667802 0.00120804] yaw=-119.1deg [env.py: 1019] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04180053 -1.00252146 0.00120804] yaw=192.7deg [env.py: 1019] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=218.6ms, total=218.7ms [env.py: 1075] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.385, 0.067, 0.001) [env.py: 1079] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.1 deg [env.py: 1082] +05/18 16:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.201m [env.py: 1086] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:04 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:04 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 16:04:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.949s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:04:09 ERROR: [Worker 0] Worker 0 house 2 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:04:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072508m [env.py: 870] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10358538 -0.13635794 0.07250837] yaw=-120.4deg [env.py: 1019] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.1ms [env.py: 1075] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.104, -0.136, 0.073) [env.py: 1079] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.4 deg [env.py: 1082] +05/18 16:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.245m [env.py: 1086] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:11 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:11 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 16:04:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.870s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:04:16 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:04:16 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 16:04:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092519m [env.py: 870] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10174353 -0.81871191 -0.09251859] yaw=-168.3deg [env.py: 1019] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.50719803 -0.04587108 -0.09251859] yaw=-101.5deg [env.py: 1019] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02999913 -0.2282403 -0.09251859] yaw=-140.0deg [env.py: 1019] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.7ms, total=148.8ms [env.py: 1075] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.102, -0.819, -0.093) [env.py: 1079] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg [env.py: 1082] +05/18 16:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:18 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:18 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 16:04:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.386s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.658[m] 112.150[deg] [grasp_sample.py: 596] +05/18 16:04:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:05:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:26 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:06:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:06:26 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 16:06:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 4.912s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:06:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.198[deg] [grasp_sample.py: 596] +05/18 16:06:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:14 INFO: [Worker 0] Worker 0 house 2 episode 24 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:07:37 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:07:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:07:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:07:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:07:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:07:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 13.90s (batch: 3.78s, save: 10.12s) [pipeline.py: 300] +05/18 16:07:52 INFO: [Worker 0] [PROFILE] Episode 24 house 2 success=True episode_total=1.51s: + episode_total: mean=75.06s, total=225.18s, count=3, min=5588.7ms, max=213856.9ms + sensor_polling: mean=505.0ms, total=151.51s, count=300, min=466.1ms, max=647.2ms + save_trajectories: mean=10.12s, total=10.12s, count=1, min=10117.5ms, max=10117.5ms + physics_step: mean=31.5ms, total=9.46s, count=300, min=22.1ms, max=42.6ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3781.5ms, max=3781.5ms + task_sampling: mean=502.7ms, total=1.51s, count=3, min=448.3ms, max=544.6ms + task_specific_sample: mean=499.3ms, total=1.50s, count=3, min=445.2ms, max=540.8ms + scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.5ms, max=2.4ms + mj_forward_sync: mean=549.0us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=20.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:07:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:53 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 16:07:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070416m [env.py: 870] +05/18 16:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19543817 -1.01593668 0.07041647] yaw=154.4deg [env.py: 1019] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08910781 -0.29588681 0.07041647] yaw=-143.9deg [env.py: 1019] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09136626 -1.21937555 0.07041647] yaw=137.2deg [env.py: 1019] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=113.1ms, total=113.2ms [env.py: 1075] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.195, -1.016, 0.070) [env.py: 1079] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg [env.py: 1082] +05/18 16:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 16:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:54 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:54 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 16:07:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.860s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:03 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.604[m] 114.971[deg] [grasp_sample.py: 596] +05/18 16:08:05 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:08:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:08:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067364m [env.py: 870] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17158384 -1.15450798 -0.06736415] yaw=154.8deg [env.py: 1019] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06659797 -1.46338013 -0.06736415] yaw=164.2deg [env.py: 1019] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.9ms, total=222.0ms [env.py: 1075] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.172, -1.155, -0.067) [env.py: 1079] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg [env.py: 1082] +05/18 16:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.269m [env.py: 1086] +05/18 16:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:07 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.942s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:08:12 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:14 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:14 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 16:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.055m, effective arm-mount z=0.805m (base_body_z=-0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.054772m [env.py: 870] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04263209 -0.83371949 -0.05477185] yaw=-180.4deg [env.py: 1019] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.0ms [env.py: 1075] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.043, -0.834, -0.055) [env.py: 1079] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg [env.py: 1082] +05/18 16:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:14 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:14 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 16:08:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.447s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.679[m] 67.585[deg] [grasp_sample.py: 596] +05/18 16:08:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:18 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 16:09:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:04 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:11:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:11:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:11:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:11:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:11:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:11:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.50s (batch: 3.81s, save: 10.68s) [pipeline.py: 300] +05/18 16:11:42 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=True episode_total=1.49s: + episode_total: mean=75.07s, total=225.21s, count=3, min=5680.6ms, max=208355.4ms + sensor_polling: mean=512.1ms, total=153.63s, count=300, min=472.6ms, max=642.2ms + save_trajectories: mean=10.68s, total=10.68s, count=1, min=10684.7ms, max=10684.7ms + physics_step: mean=32.0ms, total=9.59s, count=300, min=24.4ms, max=47.3ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.5ms, max=3811.5ms + task_sampling: mean=497.3ms, total=1.49s, count=3, min=439.6ms, max=532.1ms + task_specific_sample: mean=492.9ms, total=1.48s, count=3, min=435.6ms, max=527.1ms + scene_randomize: mean=2.3ms, total=7.0ms, count=3, min=2.2ms, max=2.4ms + mj_forward_sync: mean=672.9us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=19.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:11:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:11:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:11:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:11:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049276m [env.py: 870] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05313642 -1.17132051 0.04927559] yaw=184.0deg [env.py: 1019] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.51108551 -0.27120415 0.04927559] yaw=-142.6deg [env.py: 1019] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.0ms, total=236.0ms [env.py: 1075] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.053, -1.171, 0.049) [env.py: 1079] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.0 deg [env.py: 1082] +05/18 16:11:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:44 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.960s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.769[m] 115.084[deg] [grasp_sample.py: 596] +05/18 16:11:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:13:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:13:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:14:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.265s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.284[deg] [grasp_sample.py: 596] +05/18 16:14:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:14:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:59 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 16:14:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 70 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:04 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.795s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:04 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.052[m] 8.473[deg] [grasp_sample.py: 596] +05/18 16:15:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:16 INFO: [Worker 0] Worker 0 house 2 episode 28 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:15:16 INFO: [Worker 0] [PROFILE] Episode 28 house 2 success=False episode_total=0.57s: + episode_total: mean=212.52s, total=212.52s, count=1, min=212515.0ms, max=212515.0ms + sensor_polling: mean=506.5ms, total=151.96s, count=300, min=464.9ms, max=669.9ms + physics_step: mean=31.9ms, total=9.56s, count=300, min=24.5ms, max=43.9ms + task_sampling: mean=571.1ms, total=571.1ms, count=1, min=571.1ms, max=571.1ms + task_specific_sample: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=594.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=27.2us, 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 16:15:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012715m [env.py: 870] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05859682 -0.40795934 0.01271544] yaw=-126.5deg [env.py: 1019] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04127889 -0.51033118 0.01271544] yaw=-152.2deg [env.py: 1019] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06925525 -1.49813531 0.01271544] yaw=146.7deg [env.py: 1019] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=96.0ms, total=96.0ms [env.py: 1075] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.059, -0.408, 0.013) [env.py: 1079] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.5 deg [env.py: 1082] +05/18 16:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.136m [env.py: 1086] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:19 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.886s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:24 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:26 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 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090227m [env.py: 870] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26397035 -0.17819168 0.09022738] yaw=-160.1deg [env.py: 1019] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05270215 -0.25753356 0.09022738] yaw=-137.5deg [env.py: 1019] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07003388 -0.88015246 0.09022738] yaw=-176.5deg [env.py: 1019] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.5ms, total=164.5ms [env.py: 1075] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.264, -0.178, 0.090) [env.py: 1079] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg [env.py: 1082] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:26 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:26 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 16:15:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.946s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:31 ERROR: [Worker 0] Worker 0 house 2 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:33 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 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051512m [env.py: 870] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18814894 -0.39660533 0.05151202] yaw=-159.4deg [env.py: 1019] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11573919 -0.04742036 0.05151202] yaw=-149.3deg [env.py: 1019] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05429001 -1.40938621 0.05151202] yaw=155.8deg [env.py: 1019] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.8ms, total=156.9ms [env.py: 1075] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.188, -0.397, 0.052) [env.py: 1079] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg [env.py: 1082] +05/18 16:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:33 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.774s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:40 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.595[m] 67.316[deg] [grasp_sample.py: 596] +05/18 16:15:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:42 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 16:16:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:16:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:26 INFO: [Worker 0] Worker 0 house 2 episode 31 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:18:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:18:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:18:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:19:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:19:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:19:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.66s (batch: 3.81s, save: 10.85s) [pipeline.py: 300] +05/18 16:19:05 INFO: [Worker 0] [PROFILE] Episode 31 house 2 success=True episode_total=1.39s: + episode_total: mean=74.38s, total=223.13s, count=3, min=5511.1ms, max=211982.8ms + sensor_polling: mean=509.3ms, total=152.79s, count=300, min=470.5ms, max=639.3ms + save_trajectories: mean=10.85s, total=10.85s, count=1, min=10849.7ms, max=10849.7ms + physics_step: mean=32.4ms, total=9.71s, count=300, min=27.2ms, max=49.5ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3806.6ms, max=3806.6ms + task_sampling: mean=463.1ms, total=1.39s, count=3, min=420.7ms, max=487.1ms + task_specific_sample: mean=459.0ms, total=1.38s, count=3, min=416.4ms, max=482.5ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.6ms, max=1.8ms + mj_forward_sync: mean=655.8us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:07 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022059m [env.py: 870] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22888726 -1.34912357 -0.02205923] yaw=124.3deg [env.py: 1019] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=226.7ms, total=226.8ms [env.py: 1075] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.229, -1.349, -0.022) [env.py: 1079] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 124.3 deg [env.py: 1082] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:07 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.411s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:09 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.661[m] 74.424[deg] [grasp_sample.py: 596] +05/18 16:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:20:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:20:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:59 INFO: [Worker 0] Worker 0 house 2 episode 32 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:22:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:22:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:22:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:22:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:22:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:22:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 15.12s (batch: 3.83s, save: 11.28s) [pipeline.py: 300] +05/18 16:22:39 INFO: [Worker 0] [PROFILE] Episode 32 house 2 success=True episode_total=0.57s: + episode_total: mean=211.97s, total=211.97s, count=1, min=211967.0ms, max=211967.0ms + sensor_polling: mean=521.6ms, total=156.49s, count=300, min=480.6ms, max=650.5ms + save_trajectories: mean=11.28s, total=11.28s, count=1, min=11282.8ms, max=11282.8ms + physics_step: mean=33.2ms, total=9.96s, count=300, min=22.4ms, max=52.9ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3834.8ms, max=3834.8ms + task_sampling: mean=565.7ms, total=565.7ms, count=1, min=565.7ms, max=565.7ms + task_specific_sample: mean=561.1ms, total=561.1ms, count=1, min=561.1ms, max=561.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=667.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088277m [env.py: 870] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18381647 -0.36067394 0.08827742] yaw=-140.3deg [env.py: 1019] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=427.0ms, total=427.1ms [env.py: 1075] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.184, -0.361, 0.088) [env.py: 1079] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg [env.py: 1082] +05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:41 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.000s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.622[m] 95.401[deg] [grasp_sample.py: 596] +05/18 16:22:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:23:59 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 16:23:59 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 0.076s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.958s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:04 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.116[m] 35.550[deg] [grasp_sample.py: 596] +05/18 16:24:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +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 0.079s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 8.633s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:14 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.277[m] 40.051[deg] [grasp_sample.py: 596] +05/18 16:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:24:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 11.040s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:48 INFO: [Worker 0] Feasible grasp found 173 (originally 58): w/ 0.123[m] 21.214[deg] [grasp_sample.py: 596] +05/18 16:24:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 16:24:58 INFO: [Worker 0] Worker 0 house 2 episode 33 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:24:58 INFO: [Worker 0] [PROFILE] Episode 33 house 2 success=False episode_total=0.76s: + episode_total: mean=138.01s, total=138.01s, count=1, min=138010.4ms, max=138010.4ms + sensor_polling: mean=503.1ms, total=86.54s, count=172, min=472.6ms, max=628.7ms + physics_step: mean=30.8ms, total=5.29s, count=172, min=27.7ms, max=44.6ms + task_sampling: mean=757.6ms, total=757.6ms, count=1, min=757.6ms, max=757.6ms + task_specific_sample: mean=753.5ms, total=753.5ms, count=1, min=753.5ms, max=753.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=691.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:25:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:25:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:00 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 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050053m [env.py: 870] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06397697 -1.0159375 0.05005265] yaw=187.6deg [env.py: 1019] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07316557 -1.2445841 0.05005265] yaw=173.6deg [env.py: 1019] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27636448 -0.31187711 0.05005265] yaw=-142.1deg [env.py: 1019] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.1ms, total=173.1ms [env.py: 1075] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.064, -1.016, 0.050) [env.py: 1079] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.6 deg [env.py: 1082] +05/18 16:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:01 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.645s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.705[m] 85.698[deg] [grasp_sample.py: 596] +05/18 16:25:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:26:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:51 INFO: [Worker 0] Worker 0 house 2 episode 34 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:28:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [pipeline.py: 1174] +05/18 16:28:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_098 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:28:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:28:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:28:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_098 [save_utils.py: 785] +05/18 16:28:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_098 in 14.14s (batch: 3.69s, save: 10.45s) [pipeline.py: 300] +05/18 16:28:28 INFO: [Worker 0] [PROFILE] Episode 34 house 2 success=True episode_total=0.50s: + episode_total: mean=208.23s, total=208.23s, count=1, min=208234.8ms, max=208234.8ms + sensor_polling: mean=515.7ms, total=154.72s, count=300, min=466.2ms, max=665.3ms + save_trajectories: mean=10.45s, total=10.45s, count=1, min=10454.7ms, max=10454.7ms + physics_step: mean=31.6ms, total=9.49s, count=300, min=25.3ms, max=37.5ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3690.1ms, max=3690.1ms + task_sampling: mean=499.6ms, total=499.6ms, count=1, min=499.6ms, max=499.6ms + task_specific_sample: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=575.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:30 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 16:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047556m [env.py: 870] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01431683 -0.68649284 0.047556 ] yaw=-141.0deg [env.py: 1019] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22406843 -0.22266657 0.047556 ] yaw=-134.7deg [env.py: 1019] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.1ms, total=243.1ms [env.py: 1075] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.014, -0.686, 0.048) [env.py: 1079] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg [env.py: 1082] +05/18 16:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m [env.py: 1086] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:31 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:31 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 16:28:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.049s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:36 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.837[m] 118.819[deg] [grasp_sample.py: 596] +05/18 16:28:38 ERROR: [Worker 0] Worker 0 house 2 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:28:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059008m [env.py: 870] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31792539 -0.3401632 0.0590079 ] yaw=-136.2deg [env.py: 1019] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16551297 -1.0737434 0.0590079 ] yaw=178.8deg [env.py: 1019] +05/18 16:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19564476 -0.09489546 0.0590079 ] yaw=-149.8deg [env.py: 1019] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=176.3ms, total=176.4ms [env.py: 1075] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.318, -0.340, 0.059) [env.py: 1079] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg [env.py: 1082] +05/18 16:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/18 16:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:40 INFO: [Worker 0] Worker 0 house 2 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.980s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:47 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.645[m] 116.925[deg] [grasp_sample.py: 596] +05/18 16:28:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:22 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:30:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:22 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 16:30:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.080s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:23 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.119[m] 0.863[deg] [grasp_sample.py: 596] +05/18 16:30:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:34 INFO: [Worker 0] Worker 0 house 2 episode 36 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:31:34 INFO: [Worker 0] [PROFILE] Episode 36 house 2 success=False episode_total=1.06s: + episode_total: mean=91.21s, total=182.42s, count=2, min=7635.2ms, max=174784.1ms + sensor_polling: mean=509.4ms, total=152.82s, count=300, min=476.5ms, max=694.9ms + physics_step: mean=31.9ms, total=9.56s, count=300, min=23.2ms, max=41.3ms + task_sampling: mean=530.0ms, total=1.06s, count=2, min=486.4ms, max=573.6ms + task_specific_sample: mean=525.9ms, total=1.05s, count=2, min=482.6ms, max=569.1ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.8ms + mj_forward_sync: mean=682.0us, total=1.4ms, count=2, min=0.7ms, max=0.7ms + policy_setup: mean=18.7us, 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 16:31:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049228m [env.py: 870] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10795924 -0.44693787 -0.04922842] yaw=-141.6deg [env.py: 1019] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.145457 -0.64835666 -0.04922842] yaw=-187.3deg [env.py: 1019] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0644142 -0.48527682 -0.04922842] yaw=-155.5deg [env.py: 1019] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.9ms [env.py: 1075] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.108, -0.447, -0.049) [env.py: 1079] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg [env.py: 1082] +05/18 16:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.272m [env.py: 1086] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:36 INFO: [Worker 0] Worker 0 house 2 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.874s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:42 ERROR: [Worker 0] Worker 0 house 2 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009177m [env.py: 870] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23605 free points within sampling radius [env.py: 907] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13019291 -1.16064787 0.00917745] yaw=180.5deg [env.py: 1019] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03185935 -0.80499601 0.00917745] yaw=-200.9deg [env.py: 1019] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13507384 -0.75503534 0.00917745] yaw=-164.1deg [env.py: 1019] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=147.7ms, total=147.7ms [env.py: 1075] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.130, -1.161, 0.009) [env.py: 1079] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg [env.py: 1082] +05/18 16:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:44 INFO: [Worker 0] Worker 0 house 2 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.439s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 67.369[deg] [grasp_sample.py: 596] +05/18 16:31:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:32:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_2/chunk_098/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_098/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c1cdf8cf564f301a15d6d20d23a1c9aaa6b62ac --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_098/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1eac3787acfa2f48f2b15c5dc18210df2868757dbedaa7dd177a38b89dd2954 +size 760408463