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not set) [pipeline.py: 640] +05/18 15:47:18 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 15:47:18 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:47:18 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_011'), + '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': 30011, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:47:18 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 15:47:18 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:47:18 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 15:47:19 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:47:21 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 15:47:21 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 15:47:21 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:47:21 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:21 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 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049389m [env.py: 870] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:21 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 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.51283754 -0.14736758 0.04938926] yaw=-115.1deg [env.py: 1019] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.3193079 0.10799702 0.04938926] yaw=-102.0deg [env.py: 1019] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=23.7ms, retries=236.0ms, total=259.7ms [env.py: 1075] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.513, -0.147, 0.049) [env.py: 1079] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.1 deg [env.py: 1082] +05/18 15:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 15:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:22 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:00 INFO: [Worker 0] Warmed up parallel IK solver in 37.564s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:06 INFO: [Worker 0] Feasibility-checked 86 grasps in 6.081s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:06 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.587[m] 102.632[deg] [grasp_sample.py: 596] +05/18 15:48:08 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:48:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022291m [env.py: 870] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24458837 -0.59891069 -0.02229084] yaw=-140.0deg [env.py: 1019] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17918722 -1.01717009 -0.02229084] yaw=157.8deg [env.py: 1019] +05/18 15:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.2ms, total=270.2ms [env.py: 1075] +05/18 15:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.245, -0.599, -0.022) [env.py: 1079] +05/18 15:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg [env.py: 1082] +05/18 15:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/18 15:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:10 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:11 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.145s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 126.864[deg] [grasp_sample.py: 596] +05/18 15:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:12 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 15:49:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:50 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:51:14 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 15:51:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:51:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:51:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:51:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 15:51:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.61s (batch: 3.35s, save: 11.26s) [pipeline.py: 300] +05/18 15:51:29 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.59s: + episode_total: mean=124.86s, total=249.71s, count=2, min=49714.8ms, max=199999.2ms + sensor_polling: mean=482.9ms, total=144.88s, count=300, min=464.0ms, max=562.7ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11259.9ms, max=11259.9ms + physics_step: mean=33.6ms, total=10.08s, count=300, min=25.2ms, max=46.5ms + task_sampling: mean=2.30s, total=4.59s, count=2, min=602.4ms, max=3989.1ms + scene_load: mean=3.38s, total=3.38s, count=1, min=3380.7ms, max=3380.7ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3354.3ms, max=3354.3ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1669.8ms, max=1669.8ms + scene_compile: mean=1.53s, total=1.53s, count=1, min=1531.3ms, max=1531.3ms + task_specific_sample: mean=602.0ms, total=1.20s, count=2, min=599.2ms, max=604.9ms + compile_mujoco: mean=989.0ms, total=989.0ms, count=1, min=989.0ms, max=989.0ms + compile_xml_load: mean=456.5ms, total=456.5ms, count=1, min=456.5ms, max=456.5ms + scene_init: mean=125.2ms, total=125.2ms, count=1, min=125.2ms, max=125.2ms + compile_aux_objects: mean=56.8ms, total=56.8ms, count=1, min=56.8ms, max=56.8ms + compile_aux_policy_objects: mean=56.8ms, total=56.8ms, count=1, min=56.8ms, max=56.8ms + scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + asset_install_grasps: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms + compile_robot_add: mean=20.6ms, total=20.6ms, count=1, min=20.6ms, max=20.6ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.6ms, max=1.7ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=644.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=23.2us, total=0.0ms, count=2, 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 15:51:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:51:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:51:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025542m [env.py: 870] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05743218 -0.63054247 0.02554177] yaw=-146.3deg [env.py: 1019] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.40234148 -0.34117806 0.02554177] yaw=-115.2deg [env.py: 1019] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02510224 -0.73034009 0.02554177] yaw=-178.2deg [env.py: 1019] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.2ms [env.py: 1075] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.057, -0.631, 0.026) [env.py: 1079] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg [env.py: 1082] +05/18 15:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.156m [env.py: 1086] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:31 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:35 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.989s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:51:35 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:51:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:51:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:51:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064622m [env.py: 870] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10721985 -1.29216639 -0.064622 ] yaw=143.7deg [env.py: 1019] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25423438 -1.2337793 -0.064622 ] yaw=159.3deg [env.py: 1019] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.8ms, total=232.9ms [env.py: 1075] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.107, -1.292, -0.065) [env.py: 1079] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.7 deg [env.py: 1082] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:37 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:42 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.088s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:51:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 79.112[deg] [grasp_sample.py: 596] +05/18 15:51:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:51:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:51:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:52:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:26 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:54:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 15:54:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:55:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:55:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 15:55:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.47s (batch: 3.42s, save: 11.05s) [pipeline.py: 300] +05/18 15:55:05 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s: + episode_total: mean=106.36s, total=212.71s, count=2, min=4715.6ms, max=207999.2ms + sensor_polling: mean=501.3ms, total=150.39s, count=300, min=478.5ms, max=592.8ms + save_trajectories: mean=11.05s, total=11.05s, count=1, min=11049.9ms, max=11049.9ms + physics_step: mean=33.9ms, total=10.16s, count=300, min=24.9ms, max=38.7ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3421.8ms, max=3421.8ms + task_sampling: mean=530.4ms, total=1.06s, count=2, min=510.7ms, max=550.1ms + task_specific_sample: mean=526.5ms, total=1.05s, count=2, min=506.3ms, max=546.7ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.6ms, max=2.9ms + mj_forward_sync: mean=645.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=19.5us, 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 15:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:06 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 15:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:06 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 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095358m [env.py: 870] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13369979 -0.79687508 0.09535768] yaw=-149.8deg [env.py: 1019] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.2ms, total=231.2ms [env.py: 1075] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.134, -0.797, 0.095) [env.py: 1079] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg [env.py: 1082] +05/18 15:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:07 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:11 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.796s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.834[m] 106.318[deg] [grasp_sample.py: 596] +05/18 15:55:13 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.058m, effective arm-mount z=0.802m (base_body_z=-0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.058145m [env.py: 870] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14170403 -0.78785073 -0.05814465] yaw=-186.4deg [env.py: 1019] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.34230535 -0.33152846 -0.05814465] yaw=-150.2deg [env.py: 1019] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0365151 -0.54620621 -0.05814465] yaw=-164.4deg [env.py: 1019] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=234.7ms, total=234.8ms [env.py: 1075] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.142, -0.788, -0.058) [env.py: 1079] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.4 deg [env.py: 1082] +05/18 15:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.219m [env.py: 1086] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:15 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:19 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.006s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:19 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071944m [env.py: 870] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05669906 -0.08217402 0.0719439 ] yaw=-161.3deg [env.py: 1019] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=224.2ms, total=224.2ms [env.py: 1075] +05/18 15:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.057, -0.082, 0.072) [env.py: 1079] +05/18 15:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg [env.py: 1082] +05/18 15:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.285m [env.py: 1086] +05/18 15:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:21 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:25 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.012s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:25 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:26 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 15:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035516m [env.py: 870] +05/18 15:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08563889 -0.9099117 -0.03551607] yaw=160.6deg [env.py: 1019] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13743205 -1.1072013 -0.03551607] yaw=153.3deg [env.py: 1019] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.2ms, total=227.3ms [env.py: 1075] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -0.910, -0.036) [env.py: 1079] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg [env.py: 1082] +05/18 15:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.161m [env.py: 1086] +05/18 15:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:27 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:31 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.045s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:31 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089837m [env.py: 870] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04536882 -1.05280145 0.08983688] yaw=161.0deg [env.py: 1019] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.9ms, total=227.9ms [env.py: 1075] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.045, -1.053, 0.090) [env.py: 1079] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg [env.py: 1082] +05/18 15:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.135m [env.py: 1086] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:33 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.116s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.075s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:55:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:55:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:55:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:55:39 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 15:55:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.058518m [env.py: 870] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2712962 -0.39520699 -0.0585179 ] yaw=-159.4deg [env.py: 1019] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.14529501 -1.28518652 -0.0585179 ] yaw=142.1deg [env.py: 1019] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=226.5ms, total=226.5ms [env.py: 1075] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.271, -0.395, -0.059) [env.py: 1079] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg [env.py: 1082] +05/18 15:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:39 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.134s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.050s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 93.648[deg] [grasp_sample.py: 596] +05/18 15:55:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:45 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 15:56:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:56:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:28 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:58:52 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 15:58:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:58:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:59:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:59:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 15:59:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.89s (batch: 3.38s, save: 11.52s) [pipeline.py: 300] +05/18 15:59:08 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=3.27s: + episode_total: mean=39.03s, total=234.18s, count=6, min=4760.3ms, max=208575.3ms + sensor_polling: mean=501.6ms, total=150.49s, count=300, min=484.7ms, max=623.1ms + save_trajectories: mean=11.52s, total=11.52s, count=1, min=11515.2ms, max=11515.2ms + physics_step: mean=32.9ms, total=9.87s, count=300, min=24.8ms, max=38.1ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3376.7ms, max=3376.7ms + task_sampling: mean=545.7ms, total=3.27s, count=6, min=538.2ms, max=562.0ms + task_specific_sample: mean=542.4ms, total=3.25s, count=6, min=535.2ms, max=557.6ms + scene_randomize: mean=1.8ms, total=10.6ms, count=6, min=1.5ms, max=3.0ms + mj_forward_sync: mean=604.2us, total=3.6ms, count=6, min=0.6ms, max=0.6ms + policy_setup: mean=16.6us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:59:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:59:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:59:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:59:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018452m [env.py: 870] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.05427012 -0.5928924 0.01845208] yaw=-170.5deg [env.py: 1019] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.47158932 0.06950873 0.01845208] yaw=-111.0deg [env.py: 1019] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.8ms, total=233.9ms [env.py: 1075] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.054, -0.593, 0.018) [env.py: 1079] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg [env.py: 1082] +05/18 15:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:09 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.053s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.624[m] 122.415[deg] [grasp_sample.py: 596] +05/18 15:59:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:59:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:59:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:00:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:00:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:02 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:02:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 16:02:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:02:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:02:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:02:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 16:02:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.36s (batch: 3.42s, save: 10.94s) [pipeline.py: 300] +05/18 16:02:41 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.56s: + episode_total: mean=211.94s, total=211.94s, count=1, min=211936.0ms, max=211936.0ms + sensor_polling: mean=513.5ms, total=154.04s, count=300, min=495.3ms, max=622.5ms + save_trajectories: mean=10.94s, total=10.94s, count=1, min=10939.0ms, max=10939.0ms + physics_step: mean=34.2ms, total=10.26s, count=300, min=25.8ms, max=39.7ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3416.7ms, max=3416.7ms + task_sampling: mean=564.0ms, total=564.0ms, count=1, min=564.0ms, max=564.0ms + task_specific_sample: mean=560.0ms, total=560.0ms, count=1, min=560.0ms, max=560.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=619.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:02:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:02:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:02:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015147m [env.py: 870] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.55081555 -0.18410818 -0.01514737] yaw=-115.4deg [env.py: 1019] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.01078324 -0.86999285 -0.01514737] yaw=152.4deg [env.py: 1019] +05/18 16:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.8ms [env.py: 1075] +05/18 16:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.551, -0.184, -0.015) [env.py: 1079] +05/18 16:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.4 deg [env.py: 1082] +05/18 16:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 16:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:43 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 6.005s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:49 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.401[m] 77.375[deg] [grasp_sample.py: 596] +05/18 16:02:51 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:02:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:02:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:02:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032211m [env.py: 870] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22241779 -0.19178334 0.03221143] yaw=-156.2deg [env.py: 1019] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07343021 -0.29432006 0.03221143] yaw=-169.6deg [env.py: 1019] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15230362 -0.75102003 0.03221143] yaw=-169.5deg [env.py: 1019] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=157.6ms, total=157.7ms [env.py: 1075] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.222, -0.192, 0.032) [env.py: 1079] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.2 deg [env.py: 1082] +05/18 16:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/18 16:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:53 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:57 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.057s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.564[m] 72.401[deg] [grasp_sample.py: 596] +05/18 16:02:59 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:03:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056974m [env.py: 870] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.36285295 0.06641714 -0.056974 ] yaw=-139.2deg [env.py: 1019] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17103821 -0.3938052 -0.056974 ] yaw=-132.5deg [env.py: 1019] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.5ms, total=232.6ms [env.py: 1075] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.363, 0.066, -0.057) [env.py: 1079] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg [env.py: 1082] +05/18 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.173m [env.py: 1086] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:01 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:05 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.989s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:05 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020568m [env.py: 870] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18437872 -0.85176233 -0.02056762] yaw=-178.0deg [env.py: 1019] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26662724 -0.56640265 -0.02056762] yaw=-178.1deg [env.py: 1019] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.34921583 -0.28549196 -0.02056762] yaw=-129.6deg [env.py: 1019] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.4ms, total=192.4ms [env.py: 1075] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.184, -0.852, -0.021) [env.py: 1079] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.0 deg [env.py: 1082] +05/18 16:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:07 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:09 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.548s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:09 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.579[m] 47.901[deg] [grasp_sample.py: 596] +05/18 16:03:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:03:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:03:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:04:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:07 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:06:31 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 16:06:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:06:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:06:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:06:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 16:06:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.52s (batch: 3.32s, save: 11.20s) [pipeline.py: 300] +05/18 16:06:46 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.12s: + episode_total: mean=59.88s, total=239.52s, count=4, min=4747.8ms, max=219281.9ms + sensor_polling: mean=509.0ms, total=152.70s, count=300, min=494.2ms, max=615.1ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11200.3ms, max=11200.3ms + physics_step: mean=34.2ms, total=10.26s, count=300, min=25.4ms, max=39.1ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3317.2ms, max=3317.2ms + task_sampling: mean=530.0ms, total=2.12s, count=4, min=479.5ms, max=579.4ms + task_specific_sample: mean=526.4ms, total=2.11s, count=4, min=475.9ms, max=574.9ms + scene_randomize: mean=1.9ms, total=7.5ms, count=4, min=1.5ms, max=3.0ms + mj_forward_sync: mean=607.9us, total=2.4ms, count=4, min=0.6ms, max=0.6ms + policy_setup: mean=14.6us, 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 16:06:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:06:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:06:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:06:47 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 16:06:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:06:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097281m [env.py: 870] +05/18 16:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:06:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25001319 -1.28613015 0.09728069] yaw=162.9deg [env.py: 1019] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12137967 -0.94008319 0.09728069] yaw=179.8deg [env.py: 1019] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.30029561 -0.33251772 0.09728069] yaw=-145.9deg [env.py: 1019] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:06:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=217.3ms, total=217.4ms [env.py: 1075] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.250, -1.286, 0.097) [env.py: 1079] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.9 deg [env.py: 1082] +05/18 16:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/18 16:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:06:48 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 16:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:06:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.520s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:06:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 73.530[deg] [grasp_sample.py: 596] +05/18 16:06:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:07:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:09:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.794s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:26 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 6.479[deg] [grasp_sample.py: 596] +05/18 16:09:28 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:09:28 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/18 16:09:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:09:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:09:30 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 16:09:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080567m [env.py: 870] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0434857 -0.92048599 -0.08056739] yaw=161.2deg [env.py: 1019] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.2ms, total=227.2ms [env.py: 1075] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.043, -0.920, -0.081) [env.py: 1079] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg [env.py: 1082] +05/18 16:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.119m [env.py: 1086] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:30 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:35 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.284s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.801[m] 57.247[deg] [grasp_sample.py: 596] +05/18 16:09:37 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:09:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:09:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:09:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:38 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 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006622m [env.py: 870] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09151512 -0.78810499 0.00662205] yaw=-198.4deg [env.py: 1019] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25282635 -0.59659788 0.00662205] yaw=-188.3deg [env.py: 1019] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13281815 -0.72313277 0.00662205] yaw=-170.5deg [env.py: 1019] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.0ms [env.py: 1075] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.092, -0.788, 0.007) [env.py: 1079] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.4 deg [env.py: 1082] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:38 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:40 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.414s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.735[m] 130.558[deg] [grasp_sample.py: 596] +05/18 16:09:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:31 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:12:56 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 16:12:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:12:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:13:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:13:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 16:13:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.50s (batch: 3.34s, save: 11.17s) [pipeline.py: 300] +05/18 16:13:11 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.62s: + episode_total: mean=126.72s, total=380.17s, count=3, min=6879.5ms, max=212642.3ms + sensor_polling: mean=501.6ms, total=273.86s, count=546, min=457.6ms, max=630.2ms + physics_step: mean=33.4ms, total=18.23s, count=546, min=24.8ms, max=44.7ms + save_trajectories: mean=11.17s, total=11.17s, count=1, min=11166.0ms, max=11166.0ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3335.7ms, max=3335.7ms + task_sampling: mean=539.4ms, total=1.62s, count=3, min=506.6ms, max=556.9ms + task_specific_sample: mean=535.2ms, total=1.61s, count=3, min=502.3ms, max=553.3ms + scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.5ms, max=3.1ms + mj_forward_sync: mean=622.8us, total=1.9ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=13.9us, 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 16:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:13:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:13:12 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 16:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045430m [env.py: 870] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20125958 -1.0376891 0.0454301 ] yaw=168.2deg [env.py: 1019] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12080269 -1.19027241 0.0454301 ] yaw=190.8deg [env.py: 1019] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.3ms, total=232.4ms [env.py: 1075] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.201, -1.038, 0.045) [env.py: 1079] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg [env.py: 1082] +05/18 16:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:13 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.625s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 87.638[deg] [grasp_sample.py: 596] +05/18 16:13:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:14:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:16:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:16:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:04 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.121s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.354[deg] [grasp_sample.py: 596] +05/18 16:16:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:25 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:16:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 16:16:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:16:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 16:17:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.54s (batch: 3.39s, save: 11.16s) [pipeline.py: 300] +05/18 16:17:04 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.57s: + episode_total: mean=231.97s, total=231.97s, count=1, min=231971.5ms, max=231971.5ms + sensor_polling: mean=517.2ms, total=155.16s, count=300, min=497.0ms, max=619.6ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11157.1ms, max=11157.1ms + physics_step: mean=33.4ms, total=10.01s, count=300, min=23.7ms, max=38.4ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3385.3ms, max=3385.3ms + task_sampling: mean=571.2ms, total=571.2ms, count=1, min=571.2ms, max=571.2ms + task_specific_sample: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=612.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071552m [env.py: 870] +05/18 16:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.326464 -0.33859075 -0.07155156] yaw=-129.4deg [env.py: 1019] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.16715441 -0.50637113 -0.07155156] yaw=-156.3deg [env.py: 1019] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.2ms, total=241.2ms [env.py: 1075] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.326, -0.339, -0.072) [env.py: 1079] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.4 deg [env.py: 1082] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:06 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.105s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:07 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.639[m] 108.434[deg] [grasp_sample.py: 596] +05/18 16:17:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:08 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 16:18:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:52 INFO: [Worker 0] Worker 0 house 1 episode 19 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 16:20:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 16:20:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.64s (batch: 3.34s, save: 11.30s) [pipeline.py: 300] +05/18 16:20:31 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.58s: + episode_total: mean=205.95s, total=205.95s, count=1, min=205945.4ms, max=205945.4ms + sensor_polling: mean=502.5ms, total=150.76s, count=300, min=483.2ms, max=605.0ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11302.4ms, max=11302.4ms + physics_step: mean=33.6ms, total=10.08s, count=300, min=24.9ms, max=41.7ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3336.5ms, max=3336.5ms + task_sampling: mean=580.4ms, total=580.4ms, count=1, min=580.4ms, max=580.4ms + task_specific_sample: mean=575.9ms, total=575.9ms, count=1, min=575.9ms, max=575.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=636.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:20:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:20:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:20:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:20:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098675m [env.py: 870] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08510214 -0.27784661 -0.09867506] yaw=-123.2deg [env.py: 1019] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms [env.py: 1075] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.085, -0.278, -0.099) [env.py: 1079] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.2 deg [env.py: 1082] +05/18 16:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.151m [env.py: 1086] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:33 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.033s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:20:38 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:20:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:20:39 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 16:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070963m [env.py: 870] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42833768 -0.25003282 0.0709634 ] yaw=-159.8deg [env.py: 1019] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.03307562 -1.0323699 0.0709634 ] yaw=181.7deg [env.py: 1019] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.01837968 -1.36623778 0.0709634 ] yaw=128.3deg [env.py: 1019] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.2ms, total=238.2ms [env.py: 1075] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.428, -0.250, 0.071) [env.py: 1079] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg [env.py: 1082] +05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:40 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.018s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.533[m] 69.535[deg] [grasp_sample.py: 596] +05/18 16:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:45 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 16:21:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:23:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.108s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:17 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.038[m] 6.761[deg] [grasp_sample.py: 596] +05/18 16:23:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:23:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:47 INFO: [Worker 0] Worker 0 house 1 episode 21 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [pipeline.py: 1174] +05/18 16:24:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:24:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_011 [save_utils.py: 785] +05/18 16:24:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.06s (batch: 3.31s, save: 11.75s) [pipeline.py: 300] +05/18 16:24:27 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=1.12s: + episode_total: mean=116.60s, total=233.19s, count=2, min=4826.8ms, max=228365.5ms + sensor_polling: mean=502.4ms, total=150.72s, count=300, min=481.7ms, max=621.7ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11748.8ms, max=11748.8ms + physics_step: mean=34.0ms, total=10.20s, count=300, min=26.6ms, max=59.4ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3314.5ms, max=3314.5ms + task_sampling: mean=561.4ms, total=1.12s, count=2, min=555.0ms, max=567.7ms + task_specific_sample: mean=557.4ms, total=1.11s, count=2, min=551.6ms, max=563.2ms + scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms + mj_forward_sync: mean=624.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:24:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:24:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:24:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096455m [env.py: 870] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13021926 -1.20977958 -0.09645494] yaw=147.9deg [env.py: 1019] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.186414 -1.23819014 -0.09645494] yaw=184.9deg [env.py: 1019] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.37025177 -0.34674219 -0.09645494] yaw=-134.4deg [env.py: 1019] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=218.8ms, total=218.9ms [env.py: 1075] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.130, -1.210, -0.096) [env.py: 1079] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.9 deg [env.py: 1082] +05/18 16:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.253m [env.py: 1086] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:29 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.054s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:24:34 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:24:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:24:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:24:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001424m [env.py: 870] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0185529 -0.66917666 0.00142362] yaw=-192.3deg [env.py: 1019] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.06035102 -0.67388384 0.00142362] yaw=-180.3deg [env.py: 1019] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.4ms, total=231.4ms [env.py: 1075] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.019, -0.669, 0.001) [env.py: 1079] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.3 deg [env.py: 1082] +05/18 16:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:36 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 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 0.088s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:42 INFO: [Worker 0] Feasibility-checked 86 grasps in 6.155s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.732[m] 105.333[deg] [grasp_sample.py: 596] +05/18 16:24:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:26:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:20 INFO: [Worker 0] Object is not in grasp! 0.00120 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:26:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:26:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:21 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.025s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:21 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.319[m] 28.048[deg] [grasp_sample.py: 596] +05/18 16:26:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:33 INFO: [Worker 0] Worker 0 house 1 episode 23 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:27:33 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=False episode_total=1.11s: + episode_total: mean=91.60s, total=183.20s, count=2, min=4852.6ms, max=178346.1ms + sensor_polling: mean=513.9ms, total=154.17s, count=300, min=493.3ms, max=622.4ms + physics_step: mean=32.3ms, total=9.69s, count=300, min=25.0ms, max=36.6ms + task_sampling: mean=555.3ms, total=1.11s, count=2, min=555.0ms, max=555.6ms + task_specific_sample: mean=551.4ms, total=1.10s, count=2, min=551.4ms, max=551.5ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms + mj_forward_sync: mean=668.7us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:27:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:27:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071633m [env.py: 870] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32349956 -0.15260707 -0.07163252] yaw=-124.1deg [env.py: 1019] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02579735 -0.18219764 -0.07163252] yaw=-121.9deg [env.py: 1019] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.5ms, total=221.6ms [env.py: 1075] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.323, -0.153, -0.072) [env.py: 1079] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.1 deg [env.py: 1082] +05/18 16:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:36 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:40 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.087s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.808[m] 76.111[deg] [grasp_sample.py: 596] +05/18 16:27:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:29:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:29 INFO: [Worker 0] Feasibility-checked 74 grasps in 4.105s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.676[deg] [grasp_sample.py: 596] +05/18 16:30:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:42 INFO: [Worker 0] Worker 0 house 1 episode 24 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:30:42 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=False episode_total=0.54s: + episode_total: mean=187.38s, total=187.38s, count=1, min=187377.1ms, max=187377.1ms + sensor_polling: mean=500.6ms, total=150.18s, count=300, min=469.7ms, max=608.2ms + physics_step: mean=32.5ms, total=9.74s, count=300, min=24.2ms, max=37.6ms + task_sampling: mean=538.7ms, total=538.7ms, count=1, min=538.7ms, max=538.7ms + task_specific_sample: mean=535.6ms, total=535.6ms, count=1, min=535.6ms, max=535.6ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=602.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:30:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:30:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:30:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009112m [env.py: 870] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21865333 0.02141839 0.00911157] yaw=-107.8deg [env.py: 1019] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12273735 -1.19889958 0.00911157] yaw=163.8deg [env.py: 1019] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02868218 -1.33151159 0.00911157] yaw=161.8deg [env.py: 1019] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.3ms, total=196.4ms [env.py: 1075] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.219, 0.021, 0.009) [env.py: 1079] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.8 deg [env.py: 1082] +05/18 16:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.233m [env.py: 1086] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:44 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.014s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:30:49 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:30:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:30:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:30:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056664m [env.py: 870] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26764911 -0.10121886 0.05666432] yaw=-125.1deg [env.py: 1019] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.8ms, total=228.8ms [env.py: 1075] +05/18 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.268, -0.101, 0.057) [env.py: 1079] +05/18 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.1 deg [env.py: 1082] +05/18 16:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.112m [env.py: 1086] +05/18 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:51 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:55 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.959s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:30:55 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:30:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:30:56 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 16:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017736m [env.py: 870] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.35744296 -0.16892892 -0.0177356 ] yaw=-150.3deg [env.py: 1019] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.1ms, total=220.2ms [env.py: 1075] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.357, -0.169, -0.018) [env.py: 1079] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.3 deg [env.py: 1082] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:57 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:01 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.001s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:01 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.834[m] 119.467[deg] [grasp_sample.py: 596] +05/18 16:31:03 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:31:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:31:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:31:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.051m, effective arm-mount z=0.809m (base_body_z=-0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051265m [env.py: 870] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04478776 -1.21504511 -0.051265 ] yaw=186.6deg [env.py: 1019] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09165337 -1.09333322 -0.051265 ] yaw=161.5deg [env.py: 1019] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1484332 -0.12222614 -0.051265 ] yaw=-169.7deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.5ms, total=113.6ms [env.py: 1075] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.045, -1.215, -0.051) [env.py: 1079] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.6 deg [env.py: 1082] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.172m [env.py: 1086] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:05 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:09 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.065s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:09 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:31:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:31:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002672m [env.py: 870] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.37953861 -0.05926266 0.00267165] yaw=-141.2deg [env.py: 1019] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.47120732 -0.25835077 0.00267165] yaw=-124.1deg [env.py: 1019] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.24309594 -0.66646039 0.00267165] yaw=-156.5deg [env.py: 1019] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=211.2ms, total=211.3ms [env.py: 1075] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.380, -0.059, 0.003) [env.py: 1079] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg [env.py: 1082] +05/18 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:11 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:15 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.924s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:15 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:31:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:31:17 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 16:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000579m [env.py: 870] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.62598859e-02 -9.58100681e-01 5.79245812e-04] yaw=152.9deg [env.py: 1019] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.30937003 -0.45907664 0.00057925] yaw=-132.3deg [env.py: 1019] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0703709 -0.1334794 0.00057925] yaw=-159.3deg [env.py: 1019] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.2ms [env.py: 1075] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.016, -0.958, 0.001) [env.py: 1079] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg [env.py: 1082] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:17 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:19 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.737s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.739[m] 132.131[deg] [grasp_sample.py: 596] +05/18 16:31:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 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_1/chunk_011/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_1/chunk_011/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..525cefea3e7f423751e7bf5b0f321cff8e565559 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_011/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df45bb44417805c9af2086a0c0047559e5ce5f0e9b18c7fa12ba48e917670dc2 +size 695605725