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b/fridge_m_2house/sim/house_2/chunk_064/experiment_config_20260518_154323.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0c4687886131ca7e5a78fef555554de868fd5b9102e0333447dcf644f718ec +size 8153 diff --git a/fridge_m_2house/sim/house_2/chunk_064/running_log.log b/fridge_m_2house/sim/house_2/chunk_064/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..a3611067d06f6727c8ae5e583963a86ff55760df --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_064/running_log.log @@ -0,0 +1,1904 @@ +05/18 15:43:23 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 15:43:23 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:43:23 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:43:23 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_2house/sim_chunks/chunk_064'), + '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': 40064, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:43:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:43:23 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:43:23 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:43:24 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:43:28 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:43:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:28 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:43:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052489m [env.py: 870] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.14117261 -0.8149804 0.0524895 ] yaw=-187.2deg [env.py: 1019] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04505307 -0.67854081 0.0524895 ] yaw=-196.5deg [env.py: 1019] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=32.1ms, retries=258.7ms, total=290.8ms [env.py: 1075] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.141, -0.815, 0.052) [env.py: 1079] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.2 deg [env.py: 1082] +05/18 15:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:29 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:06 INFO: [Worker 0] Warmed up parallel IK solver in 37.050s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:06 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 15:44:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.121s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.377s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:44:07 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.624[m] 118.458[deg] [grasp_sample.py: 596] +05/18 15:44:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:44:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:44:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:02 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:47:27 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 15:47:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:47:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:47:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:47:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 15:47:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.64s (batch: 3.42s, save: 11.22s) [pipeline.py: 300] +05/18 15:47:42 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=5.58s: + episode_total: mean=259.07s, total=259.07s, count=1, min=259066.3ms, max=259066.3ms + sensor_polling: mean=523.7ms, total=157.10s, count=300, min=498.9ms, max=591.7ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11218.3ms, max=11218.3ms + physics_step: mean=33.0ms, total=9.90s, count=300, min=25.2ms, max=37.6ms + task_sampling: mean=5.58s, total=5.58s, count=1, min=5578.5ms, max=5578.5ms + scene_load: mean=4.93s, total=4.93s, count=1, min=4931.4ms, max=4931.4ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3422.4ms, max=3422.4ms + scene_env_create: mean=2.73s, total=2.73s, count=1, min=2734.1ms, max=2734.1ms + scene_compile: mean=2.01s, total=2.01s, count=1, min=2008.2ms, max=2008.2ms + compile_mujoco: mean=1.14s, total=1.14s, count=1, min=1144.9ms, max=1144.9ms + compile_xml_load: mean=756.2ms, total=756.2ms, count=1, min=756.2ms, max=756.2ms + task_specific_sample: mean=643.4ms, total=643.4ms, count=1, min=643.4ms, max=643.4ms + scene_init: mean=117.8ms, total=117.8ms, count=1, min=117.8ms, max=117.8ms + scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_robot_add: mean=44.2ms, total=44.2ms, count=1, min=44.2ms, max=44.2ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=639.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001175m [env.py: 870] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03521955 -1.00597577 -0.00117485] yaw=188.9deg [env.py: 1019] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10176408 -0.74336162 -0.00117485] yaw=-165.0deg [env.py: 1019] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05793722 -1.07780963 -0.00117485] yaw=154.4deg [env.py: 1019] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.3ms, total=151.3ms [env.py: 1075] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.035, -1.006, -0.001) [env.py: 1079] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.9 deg [env.py: 1082] +05/18 15:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m [env.py: 1086] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:44 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.052s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.708[m] 86.798[deg] [grasp_sample.py: 596] +05/18 15:47:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 20.276s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:38 INFO: [Worker 0] Feasible grasp found 74 (originally 74): w/ 0.171[m] 30.399[deg] [grasp_sample.py: 596] +05/18 15:49:40 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:49:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:49:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:49:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:49:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:41 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 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094666m [env.py: 870] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.19838906 -0.03914476 0.09466602] yaw=-135.2deg [env.py: 1019] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08292088 -1.23476105 0.09466602] yaw=181.7deg [env.py: 1019] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=241.7ms, total=241.7ms [env.py: 1075] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.198, -0.039, 0.095) [env.py: 1079] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.2 deg [env.py: 1082] +05/18 15:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.239m [env.py: 1086] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:42 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.086s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:49:46 ERROR: [Worker 0] Worker 0 house 2 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:49:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:49:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:49:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:49:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098493m [env.py: 870] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07686991 -0.54385475 -0.09849286] yaw=-164.8deg [env.py: 1019] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01381862 -0.34225267 -0.09849286] yaw=-125.2deg [env.py: 1019] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.6ms, total=232.6ms [env.py: 1075] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.077, -0.544, -0.098) [env.py: 1079] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg [env.py: 1082] +05/18 15:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.210m [env.py: 1086] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:48 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.055s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:49:52 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:49:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:49:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:49:54 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 15:49:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:54 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 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051867m [env.py: 870] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1004388 -0.18899788 0.05186656] yaw=-160.3deg [env.py: 1019] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11083416 -0.2360197 0.05186656] yaw=-164.6deg [env.py: 1019] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.23731958 -0.58026823 0.05186656] yaw=-143.4deg [env.py: 1019] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.5ms, total=235.6ms [env.py: 1075] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.189, 0.052) [env.py: 1079] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg [env.py: 1082] +05/18 15:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.215m [env.py: 1086] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:54 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:55 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 15:49:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.067s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:49:59 ERROR: [Worker 0] Worker 0 house 2 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038787m [env.py: 870] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33957781 0.10154381 0.03878733] yaw=-119.7deg [env.py: 1019] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01685229 -0.64092881 0.03878733] yaw=-144.7deg [env.py: 1019] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21820917 -0.25565482 0.03878733] yaw=-145.6deg [env.py: 1019] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=195.2ms, total=195.3ms [env.py: 1075] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.340, 0.102, 0.039) [env.py: 1079] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.7 deg [env.py: 1082] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.255m [env.py: 1086] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:01 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.011s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:05 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:06 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 15:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044372m [env.py: 870] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02323087 -1.46565326 -0.0443717 ] yaw=141.4deg [env.py: 1019] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16758118 -0.7164637 -0.0443717 ] yaw=-165.8deg [env.py: 1019] +05/18 15:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19491295 -1.25425661 -0.0443717 ] yaw=184.5deg [env.py: 1019] +05/18 15:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.4ms, total=175.4ms [env.py: 1075] +05/18 15:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.023, -1.466, -0.044) [env.py: 1079] +05/18 15:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.4 deg [env.py: 1082] +05/18 15:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.228m [env.py: 1086] +05/18 15:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:07 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:07 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 15:50:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.126s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:11 ERROR: [Worker 0] Worker 0 house 2 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:13 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:13 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 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049409m [env.py: 870] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19388358 -0.59182689 0.04940862] yaw=-136.2deg [env.py: 1019] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.54185581 -0.11298235 0.04940862] yaw=-108.2deg [env.py: 1019] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=231.6ms, total=231.6ms [env.py: 1075] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.194, -0.592, 0.049) [env.py: 1079] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg [env.py: 1082] +05/18 15:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:13 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.291s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.523[m] 78.375[deg] [grasp_sample.py: 596] +05/18 15:50:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:19 INFO: [Worker 0] Worker 0 house 2 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:53:43 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 15:53:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:53:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:53:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:53:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 15:53:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.81s (batch: 3.42s, save: 11.38s) [pipeline.py: 300] +05/18 15:53:58 INFO: [Worker 0] [PROFILE] Episode 7 house 2 success=True episode_total=3.73s: + episode_total: mean=52.26s, total=365.81s, count=7, min=4720.5ms, max=225883.0ms + sensor_polling: mean=521.9ms, total=220.22s, count=422, min=482.4ms, max=611.8ms + physics_step: mean=34.0ms, total=14.35s, count=422, min=24.6ms, max=43.1ms + save_trajectories: mean=11.38s, total=11.38s, count=1, min=11384.4ms, max=11384.4ms + task_sampling: mean=533.4ms, total=3.73s, count=7, min=473.0ms, max=568.8ms + task_specific_sample: mean=529.8ms, total=3.71s, count=7, min=468.6ms, max=564.9ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3421.6ms, max=3421.6ms + scene_randomize: mean=1.9ms, total=13.0ms, count=7, min=1.6ms, max=2.9ms + mj_forward_sync: mean=681.3us, total=4.8ms, count=7, min=0.6ms, max=0.7ms + policy_setup: mean=19.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012756m [env.py: 870] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10431395 -1.35879362 -0.01275557] yaw=158.6deg [env.py: 1019] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13407168 -0.63093553 -0.01275557] yaw=-181.7deg [env.py: 1019] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.11582905 -0.46541435 -0.01275557] yaw=-182.2deg [env.py: 1019] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.8ms, total=161.8ms [env.py: 1075] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.104, -1.359, -0.013) [env.py: 1079] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg [env.py: 1082] +05/18 15:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:00 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.120s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:07 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.713[m] 109.365[deg] [grasp_sample.py: 596] +05/18 15:54:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:55:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:59 INFO: [Worker 0] Worker 0 house 2 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:57:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 15:57:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:57:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:57:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:57:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 15:57:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.55s (batch: 3.36s, save: 11.19s) [pipeline.py: 300] +05/18 15:57:38 INFO: [Worker 0] [PROFILE] Episode 8 house 2 success=True episode_total=0.50s: + episode_total: mean=218.39s, total=218.39s, count=1, min=218394.0ms, max=218394.0ms + sensor_polling: mean=527.1ms, total=158.14s, count=300, min=494.2ms, max=635.9ms + save_trajectories: mean=11.19s, total=11.19s, count=1, min=11192.2ms, max=11192.2ms + physics_step: mean=34.5ms, total=10.34s, count=300, min=25.6ms, max=47.9ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3356.1ms, max=3356.1ms + task_sampling: mean=502.6ms, total=502.6ms, count=1, min=502.6ms, max=502.6ms + task_specific_sample: mean=498.6ms, total=498.6ms, count=1, min=498.6ms, max=498.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=653.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=17.5us, 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 15:57:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:40 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 15:57:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029075m [env.py: 870] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23327852 -0.19185106 0.02907475] yaw=-147.3deg [env.py: 1019] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06267318 -0.42037481 0.02907475] yaw=-130.9deg [env.py: 1019] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19805179 -0.84358715 0.02907475] yaw=-196.7deg [env.py: 1019] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=220.0ms [env.py: 1075] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.233, -0.192, 0.029) [env.py: 1079] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg [env.py: 1082] +05/18 15:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.110m [env.py: 1086] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:40 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:40 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 15:57:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.126s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:45 ERROR: [Worker 0] Worker 0 house 2 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007168m [env.py: 870] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08876471 -1.18817698 0.00716846] yaw=179.9deg [env.py: 1019] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.9ms, total=231.0ms [env.py: 1075] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.089, -1.188, 0.007) [env.py: 1079] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.9 deg [env.py: 1082] +05/18 15:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:47 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.130s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.288s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.629[m] 112.000[deg] [grasp_sample.py: 596] +05/18 15:57:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:59:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:15 INFO: [Worker 0] Worker 0 house 2 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:01:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:01:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:01:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:01:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:01:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:01:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.66s (batch: 3.45s, save: 11.21s) [pipeline.py: 300] +05/18 16:01:54 INFO: [Worker 0] [PROFILE] Episode 10 house 2 success=True episode_total=1.11s: + episode_total: mean=126.39s, total=252.78s, count=2, min=4909.0ms, max=247875.3ms + sensor_polling: mean=522.5ms, total=156.75s, count=300, min=478.2ms, max=606.7ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11209.1ms, max=11209.1ms + physics_step: mean=33.7ms, total=10.10s, count=300, min=25.6ms, max=40.5ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3448.7ms, max=3448.7ms + task_sampling: mean=554.4ms, total=1.11s, count=2, min=552.6ms, max=556.3ms + task_specific_sample: mean=550.5ms, total=1.10s, count=2, min=549.2ms, max=551.7ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms + mj_forward_sync: mean=681.2us, total=1.4ms, count=2, min=0.7ms, max=0.7ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:01:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:01:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:01:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:01:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003238m [env.py: 870] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21053067 -0.04418918 -0.00323812] yaw=-151.2deg [env.py: 1019] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13822483 -0.70037387 -0.00323812] yaw=-152.6deg [env.py: 1019] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2065492 -1.36848676 -0.00323812] yaw=164.0deg [env.py: 1019] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.9ms [env.py: 1075] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.211, -0.044, -0.003) [env.py: 1079] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg [env.py: 1082] +05/18 16:01:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.227m [env.py: 1086] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:56 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.154s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:02:00 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:02:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:02 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 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012910m [env.py: 870] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.34569059 0.04304834 -0.01291041] yaw=-146.9deg [env.py: 1019] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.08203719 -1.44827569 -0.01291041] yaw=126.4deg [env.py: 1019] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.2ms, total=240.2ms [env.py: 1075] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.346, 0.043, -0.013) [env.py: 1079] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg [env.py: 1082] +05/18 16:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.204m [env.py: 1086] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:03 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.116s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.064s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:02:07 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:02:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088760m [env.py: 870] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19120167 -1.23927776 0.0887602 ] yaw=159.4deg [env.py: 1019] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.8ms, total=234.8ms [env.py: 1075] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.191, -1.239, 0.089) [env.py: 1079] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.4 deg [env.py: 1082] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:09 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.120s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.269s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 90.633[deg] [grasp_sample.py: 596] +05/18 16:02:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:03:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:03:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:04:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:04:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:54 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.945s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:54 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.228[deg] [grasp_sample.py: 596] +05/18 16:04:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:05:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:05:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:18 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.979s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:18 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.090[m] 0.167[deg] [grasp_sample.py: 596] +05/18 16:05:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:05:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:05:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:39 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.967s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:39 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.090[m] 0.166[deg] [grasp_sample.py: 596] +05/18 16:05:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:06:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 16:06:01 INFO: [Worker 0] Worker 0 house 2 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:06:23 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:06:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:06:23 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/18 16:06:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:06:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:06:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 13.89s (batch: 3.40s, save: 10.49s) [pipeline.py: 300] +05/18 16:06:38 INFO: [Worker 0] [PROFILE] Episode 13 house 2 success=True episode_total=1.62s: + episode_total: mean=93.07s, total=279.21s, count=3, min=4865.0ms, max=269479.2ms + sensor_polling: mean=543.1ms, total=152.62s, count=281, min=519.6ms, max=631.0ms + save_trajectories: mean=10.49s, total=10.49s, count=1, min=10490.9ms, max=10490.9ms + physics_step: mean=32.7ms, total=9.19s, count=281, min=22.4ms, max=48.3ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3403.9ms, max=3403.9ms + task_sampling: mean=540.2ms, total=1.62s, count=3, min=484.2ms, max=574.5ms + task_specific_sample: mean=536.4ms, total=1.61s, count=3, min=479.9ms, max=570.4ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.6ms, max=2.7ms + mj_forward_sync: mean=675.6us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=15.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:06:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:06:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:06:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:06:39 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 16:06:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:06:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067945m [env.py: 870] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:06:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20893197 -0.74154994 0.06794539] yaw=-147.1deg [env.py: 1019] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.38225658 -0.04965021 0.06794539] yaw=-112.3deg [env.py: 1019] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.13675369 -0.11787274 0.06794539] yaw=-143.1deg [env.py: 1019] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:06:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.4ms, total=163.4ms [env.py: 1075] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.209, -0.742, 0.068) [env.py: 1079] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg [env.py: 1082] +05/18 16:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:06:40 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:06:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:06:40 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 16:06:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.725s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:06:42 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.709[m] 77.518[deg] [grasp_sample.py: 596] +05/18 16:06:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:49 INFO: [Worker 0] Worker 0 house 2 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:10:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:10:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:10:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:10:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:10:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:10:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 15.07s (batch: 3.51s, save: 11.57s) [pipeline.py: 300] +05/18 16:10:28 INFO: [Worker 0] [PROFILE] Episode 14 house 2 success=True episode_total=0.50s: + episode_total: mean=229.16s, total=229.16s, count=1, min=229158.9ms, max=229158.9ms + sensor_polling: mean=522.4ms, total=156.71s, count=300, min=499.7ms, max=589.9ms + save_trajectories: mean=11.57s, total=11.57s, count=1, min=11566.3ms, max=11566.3ms + physics_step: mean=33.3ms, total=9.99s, count=300, min=25.2ms, max=38.7ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3508.2ms, max=3508.2ms + task_sampling: mean=504.9ms, total=504.9ms, count=1, min=504.9ms, max=504.9ms + task_specific_sample: mean=500.3ms, total=500.3ms, count=1, min=500.3ms, max=500.3ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=682.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=16.5us, 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 16:10:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:30 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 16:10:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036014m [env.py: 870] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03218177 -0.69586167 -0.03601425] yaw=-173.6deg [env.py: 1019] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13692478 -0.79810389 -0.03601425] yaw=-155.9deg [env.py: 1019] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10283628 -0.85407651 -0.03601425] yaw=-198.5deg [env.py: 1019] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.0ms, total=165.1ms [env.py: 1075] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -0.696, -0.036) [env.py: 1079] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.6 deg [env.py: 1082] +05/18 16:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:30 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:31 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 16:10:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.085s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:35 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.738[m] 97.282[deg] [grasp_sample.py: 596] +05/18 16:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:25 INFO: [Worker 0] Worker 0 house 2 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:13:50 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:13:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:13:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:14:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:14:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:14:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.78s (batch: 3.51s, save: 11.26s) [pipeline.py: 300] +05/18 16:14:05 INFO: [Worker 0] [PROFILE] Episode 15 house 2 success=True episode_total=0.52s: + episode_total: mean=214.98s, total=214.98s, count=1, min=214980.4ms, max=214980.4ms + sensor_polling: mean=523.9ms, total=157.16s, count=300, min=498.5ms, max=614.7ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11264.8ms, max=11264.8ms + physics_step: mean=33.0ms, total=9.90s, count=300, min=25.5ms, max=47.5ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3513.6ms, max=3513.6ms + task_sampling: mean=522.3ms, total=522.3ms, count=1, min=522.3ms, max=522.3ms + task_specific_sample: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=755.6us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:14:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:06 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 16:14:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003835m [env.py: 870] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02070381 -0.39230107 0.003835 ] yaw=-125.8deg [env.py: 1019] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.09176497 -0.31197718 0.003835 ] yaw=-128.3deg [env.py: 1019] +05/18 16:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.2ms [env.py: 1075] +05/18 16:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.021, -0.392, 0.004) [env.py: 1079] +05/18 16:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg [env.py: 1082] +05/18 16:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.214m [env.py: 1086] +05/18 16:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:07 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:07 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 16:14:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.102s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:11 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:11 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 16:14:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:13 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021810m [env.py: 870] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08452362 -0.92356806 0.02181041] yaw=176.8deg [env.py: 1019] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25608434 -0.54224932 0.02181041] yaw=-163.3deg [env.py: 1019] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27202709 -0.05311819 0.02181041] yaw=-124.2deg [env.py: 1019] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.1ms, total=136.1ms [env.py: 1075] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.085, -0.924, 0.022) [env.py: 1079] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg [env.py: 1082] +05/18 16:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.159m [env.py: 1086] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:13 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:13 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 16:14:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.120s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.148s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:18 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:19 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069201m [env.py: 870] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10546085 -0.49245616 -0.06920087] yaw=-182.7deg [env.py: 1019] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25688571 -1.24181198 -0.06920087] yaw=153.2deg [env.py: 1019] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02042914 -0.69164769 -0.06920087] yaw=-170.4deg [env.py: 1019] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=180.0ms, total=180.0ms [env.py: 1075] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.105, -0.492, -0.069) [env.py: 1079] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.7 deg [env.py: 1082] +05/18 16:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.254m [env.py: 1086] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:19 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:20 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 16:14:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.130s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.967s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:24 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044547m [env.py: 870] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00604585 -0.8718228 -0.04454673] yaw=-160.5deg [env.py: 1019] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24754052 -0.30358346 -0.04454673] yaw=-123.8deg [env.py: 1019] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 137.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12221336 -1.1853977 -0.04454673] yaw=157.8deg [env.py: 1019] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=217.5ms, total=217.5ms [env.py: 1075] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.006, -0.872, -0.045) [env.py: 1079] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg [env.py: 1082] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:26 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:26 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 16:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.121s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.451s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:27 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.625[m] 40.727[deg] [grasp_sample.py: 596] +05/18 16:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:15:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:17 INFO: [Worker 0] Worker 0 house 2 episode 19 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:17:41 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:17:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:17:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:17:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.89s (batch: 3.41s, save: 11.48s) [pipeline.py: 300] +05/18 16:17:56 INFO: [Worker 0] [PROFILE] Episode 19 house 2 success=True episode_total=2.09s: + episode_total: mean=56.36s, total=225.45s, count=4, min=4724.2ms, max=210986.4ms + sensor_polling: mean=519.5ms, total=155.85s, count=300, min=497.2ms, max=621.5ms + save_trajectories: mean=11.48s, total=11.48s, count=1, min=11483.0ms, max=11483.0ms + physics_step: mean=34.0ms, total=10.20s, count=300, min=25.3ms, max=47.2ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3408.4ms, max=3408.4ms + task_sampling: mean=522.2ms, total=2.09s, count=4, min=461.5ms, max=588.5ms + task_specific_sample: mean=518.6ms, total=2.07s, count=4, min=457.9ms, max=583.9ms + scene_randomize: mean=1.9ms, total=7.7ms, count=4, min=1.5ms, max=3.1ms + mj_forward_sync: mean=644.9us, total=2.6ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=15.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061916m [env.py: 870] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12148518 -1.3650817 -0.06191633] yaw=144.3deg [env.py: 1019] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15574005 -1.18661566 -0.06191633] yaw=162.0deg [env.py: 1019] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=242.7ms, total=242.7ms [env.py: 1075] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -1.365, -0.062) [env.py: 1079] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.3 deg [env.py: 1082] +05/18 16:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:58 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.929s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:18:06 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.639[m] 79.322[deg] [grasp_sample.py: 596] +05/18 16:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:18:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:18:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:19:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:00 INFO: [Worker 0] Worker 0 house 2 episode 20 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:21:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:21:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:21:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:21:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:21:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:21:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 15.11s (batch: 3.49s, save: 11.62s) [pipeline.py: 300] +05/18 16:21:40 INFO: [Worker 0] [PROFILE] Episode 20 house 2 success=True episode_total=0.59s: + episode_total: mean=222.23s, total=222.23s, count=1, min=222228.0ms, max=222228.0ms + sensor_polling: mean=529.6ms, total=158.89s, count=300, min=507.0ms, max=618.7ms + save_trajectories: mean=11.62s, total=11.62s, count=1, min=11624.7ms, max=11624.7ms + physics_step: mean=36.5ms, total=10.94s, count=300, min=24.5ms, max=44.0ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3490.0ms, max=3490.0ms + task_sampling: mean=590.3ms, total=590.3ms, count=1, min=590.3ms, max=590.3ms + task_specific_sample: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=656.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:21:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:21:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074945m [env.py: 870] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.36206314 -0.35689468 0.07494464] yaw=-149.6deg [env.py: 1019] +05/18 16:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.25393271 -0.69221578 0.07494464] yaw=-161.3deg [env.py: 1019] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2806974 -0.13500705 0.07494464] yaw=-108.5deg [env.py: 1019] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.1ms, total=247.1ms [env.py: 1075] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.362, -0.357, 0.075) [env.py: 1079] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg [env.py: 1082] +05/18 16:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/18 16:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:42 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.555[m] 81.647[deg] [grasp_sample.py: 596] +05/18 16:21:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:22:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:24:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [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 16:24:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.926s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.696[deg] [grasp_sample.py: 596] +05/18 16:24:39 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:24:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084537m [env.py: 870] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15503308 -1.15065492 0.08453682] yaw=195.7deg [env.py: 1019] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09441303 -0.37754456 0.08453682] yaw=-147.4deg [env.py: 1019] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09200413 -0.41706824 0.08453682] yaw=-168.8deg [env.py: 1019] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.8ms, total=196.9ms [env.py: 1075] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -1.151, 0.085) [env.py: 1079] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 195.7 deg [env.py: 1082] +05/18 16:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.252m [env.py: 1086] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:41 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:41 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 16:24:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.035s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:24:45 ERROR: [Worker 0] Worker 0 house 2 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:47 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032582m [env.py: 870] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.50409436 -0.11511753 0.03258198] yaw=-129.5deg [env.py: 1019] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09939845 -1.45578729 0.03258198] yaw=172.7deg [env.py: 1019] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19535881 -1.36503802 0.03258198] yaw=154.1deg [env.py: 1019] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=159.6ms, total=159.7ms [env.py: 1075] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.504, -0.115, 0.033) [env.py: 1079] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg [env.py: 1082] +05/18 16:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:47 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.024s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.739[m] 87.702[deg] [grasp_sample.py: 596] +05/18 16:24:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:27:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:27:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:16 INFO: [Worker 0] Feasibility-checked 74 grasps in 4.110s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.496[deg] [grasp_sample.py: 596] +05/18 16:27:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:06 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 16:28:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.999s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:10 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:12 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 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026426m [env.py: 870] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 142.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06295376 -0.46505421 0.02642611] yaw=-154.4deg [env.py: 1019] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14255548 -1.34404935 0.02642611] yaw=161.0deg [env.py: 1019] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=238.3ms, total=238.4ms [env.py: 1075] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -0.465, 0.026) [env.py: 1079] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg [env.py: 1082] +05/18 16:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.223m [env.py: 1086] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:12 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:13 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 16:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.089s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:17 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:18 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 16:28:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053442m [env.py: 870] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29334608 -0.5314789 -0.05344223] yaw=-174.3deg [env.py: 1019] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.4ms [env.py: 1075] +05/18 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.293, -0.531, -0.053) [env.py: 1079] +05/18 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg [env.py: 1082] +05/18 16:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/18 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:19 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:19 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 16:28:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.514s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.424[m] 85.035[deg] [grasp_sample.py: 596] +05/18 16:28:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:29:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:06 INFO: [Worker 0] Worker 0 house 2 episode 25 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:30 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [pipeline.py: 1174] +05/18 16:31:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_064 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:30 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/18 16:31:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:31:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_064 [save_utils.py: 785] +05/18 16:31:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_064 in 14.68s (batch: 3.45s, save: 11.24s) [pipeline.py: 300] +05/18 16:31:45 INFO: [Worker 0] [PROFILE] Episode 25 house 2 success=True episode_total=2.77s: + episode_total: mean=119.53s, total=597.64s, count=5, min=4766.0ms, max=206869.0ms + sensor_polling: mean=518.2ms, total=442.03s, count=853, min=483.5ms, max=619.2ms + physics_step: mean=34.5ms, total=29.42s, count=853, min=25.0ms, max=41.6ms + save_trajectories: mean=11.24s, total=11.24s, count=1, min=11235.6ms, max=11235.6ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3447.1ms, max=3447.1ms + task_sampling: mean=553.6ms, total=2.77s, count=5, min=497.0ms, max=594.5ms + task_specific_sample: mean=549.4ms, total=2.75s, count=5, min=492.3ms, max=590.2ms + scene_randomize: mean=1.9ms, total=9.3ms, count=5, min=1.6ms, max=2.6ms + mj_forward_sync: mean=745.0us, total=3.7ms, count=5, min=0.7ms, max=0.8ms + policy_setup: mean=15.5us, 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 16:31:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:47 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085381m [env.py: 870] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10583434 -0.81410537 0.08538056] yaw=-151.1deg [env.py: 1019] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10532206 -0.85264343 0.08538056] yaw=-149.1deg [env.py: 1019] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=238.3ms, total=238.3ms [env.py: 1075] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -0.814, 0.085) [env.py: 1079] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg [env.py: 1082] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.185m [env.py: 1086] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:47 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.109s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:52 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:53 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 16:31:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001836m [env.py: 870] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6051437 -0.18875151 0.00183565] yaw=-146.3deg [env.py: 1019] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.37420736 -0.29943439 0.00183565] yaw=-153.4deg [env.py: 1019] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.27362923 -0.58456806 0.00183565] yaw=-160.2deg [env.py: 1019] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.3ms [env.py: 1075] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.605, -0.189, 0.002) [env.py: 1079] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg [env.py: 1082] +05/18 16:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:54 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:54 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 16:31:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.376s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 74.028[deg] [grasp_sample.py: 596] +05/18 16:31:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:32:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:33:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_2/chunk_064/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_064/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a434960b682feee28425e8dd647a67c70c8274ba --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_064/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7bd05928458bbedc49674e542094ef83951344e9f2b0676c6cd77d1f9ef3566 +size 733243269