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not set) [pipeline.py: 640] +05/18 15:43:03 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:43:03 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:43:03 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_086'), + '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': 40086, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:43:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:43:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:43:03 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:43:04 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:08 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:43:08 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:43:09 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:09 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:43:09 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:09 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 15:43:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023293m [env.py: 870] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:09 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13773798 -0.68464571 0.02329282] yaw=-140.5deg [env.py: 1019] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25472304 -1.26952343 0.02329282] yaw=155.9deg [env.py: 1019] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27733038 -0.33488588 0.02329282] yaw=-115.4deg [env.py: 1019] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=26.3ms, retries=181.7ms, total=208.0ms [env.py: 1075] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.138, -0.685, 0.023) [env.py: 1079] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg [env.py: 1082] +05/18 15:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:09 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:47 INFO: [Worker 0] Warmed up parallel IK solver in 37.421s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.426s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.572[m] 71.355[deg] [grasp_sample.py: 596] +05/18 15:43:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:43:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:43:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:42 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:47:04 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 15:47:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:47:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:47:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:47:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 15:47:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.14s (batch: 3.82s, save: 10.32s) [pipeline.py: 300] +05/18 15:47:19 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=6.29s: + episode_total: mean=256.05s, total=256.05s, count=1, min=256052.3ms, max=256052.3ms + sensor_polling: mean=526.4ms, total=157.91s, count=300, min=484.1ms, max=599.3ms + save_trajectories: mean=10.32s, total=10.32s, count=1, min=10317.4ms, max=10317.4ms + physics_step: mean=32.1ms, total=9.62s, count=300, min=27.1ms, max=42.5ms + task_sampling: mean=6.29s, total=6.29s, count=1, min=6291.9ms, max=6291.9ms + scene_load: mean=5.73s, total=5.73s, count=1, min=5731.9ms, max=5731.9ms + scene_env_create: mean=3.99s, total=3.99s, count=1, min=3991.0ms, max=3991.0ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3822.6ms, max=3822.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1301.7ms, max=1301.7ms + compile_mujoco: mean=927.4ms, total=927.4ms, count=1, min=927.4ms, max=927.4ms + task_specific_sample: mean=556.3ms, total=556.3ms, count=1, min=556.3ms, max=556.3ms + scene_asset_install: mean=306.2ms, total=306.2ms, count=1, min=306.2ms, max=306.2ms + compile_xml_load: mean=285.7ms, total=285.7ms, count=1, min=285.7ms, max=285.7ms + asset_install_grasps: mean=217.8ms, total=217.8ms, count=1, min=217.8ms, max=217.8ms + scene_init: mean=132.6ms, total=132.6ms, count=1, min=132.6ms, max=132.6ms + asset_install_objects: mean=78.9ms, total=78.9ms, count=1, min=78.9ms, max=78.9ms + compile_aux_objects: mean=70.4ms, total=70.4ms, count=1, min=70.4ms, max=70.4ms + compile_aux_policy_objects: mean=70.4ms, total=70.4ms, count=1, min=70.4ms, max=70.4ms + asset_install_scene: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=692.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=36.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +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_2, 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=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, 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, -0.916, 1.306) [env.py: 845] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074361m [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 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12208716 -0.33714665 -0.0743606 ] yaw=-143.8deg [env.py: 1019] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.07972441 -0.99723555 -0.0743606 ] yaw=175.4deg [env.py: 1019] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1989788 -1.14528623 -0.0743606 ] yaw=139.5deg [env.py: 1019] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.122, -0.337, -0.074) [env.py: 1079] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg [env.py: 1082] +05/18 15:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.114m [env.py: 1086] +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 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:21 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.196s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:30 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:31 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:31 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 15:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097780m [env.py: 870] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10976136 -0.21780016 -0.09777982] yaw=-165.1deg [env.py: 1019] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0081 -0.57947748 -0.09777982] yaw=-144.8deg [env.py: 1019] +05/18 15:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.6ms, total=216.6ms [env.py: 1075] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.110, -0.218, -0.098) [env.py: 1079] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg [env.py: 1082] +05/18 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m [env.py: 1086] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:32 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.963s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:37 ERROR: [Worker 0] Worker 0 house 2 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:39 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 15:47:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046829m [env.py: 870] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12354331 -0.48365113 0.04682935] yaw=-161.2deg [env.py: 1019] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22623569 -0.62475021 0.04682935] yaw=-149.6deg [env.py: 1019] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03380895 -1.08057033 0.04682935] yaw=145.8deg [env.py: 1019] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.2ms, total=161.2ms [env.py: 1075] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.124, -0.484, 0.047) [env.py: 1079] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg [env.py: 1082] +05/18 15:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:39 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.828s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:46 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.762[m] 70.076[deg] [grasp_sample.py: 596] +05/18 15:47:48 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:47:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033639m [env.py: 870] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17309114 -1.20368185 -0.03363905] yaw=134.4deg [env.py: 1019] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20628655 -0.71533312 -0.03363905] yaw=-179.0deg [env.py: 1019] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09457365 -0.85750479 -0.03363905] yaw=-162.7deg [env.py: 1019] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=203.8ms, total=203.9ms [env.py: 1075] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.173, -1.204, -0.034) [env.py: 1079] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.4 deg [env.py: 1082] +05/18 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:50 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.451s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:52 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.562[m] 86.102[deg] [grasp_sample.py: 596] +05/18 15:47:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:48:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:43 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.133s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.037[m] 8.860[deg] [grasp_sample.py: 596] +05/18 15:49:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:50:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:50:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.333s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:46 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.128[deg] [grasp_sample.py: 596] +05/18 15:50:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:14 INFO: [Worker 0] Worker 0 house 2 episode 4 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:51:14 INFO: [Worker 0] [PROFILE] Episode 4 house 2 success=False episode_total=2.02s: + episode_total: mean=57.09s, total=228.34s, count=4, min=5703.0ms, max=204526.0ms + sensor_polling: mean=527.8ms, total=158.33s, count=300, min=488.1ms, max=626.5ms + physics_step: mean=31.8ms, total=9.53s, count=300, min=22.5ms, max=38.8ms + task_sampling: mean=504.5ms, total=2.02s, count=4, min=465.7ms, max=527.3ms + task_specific_sample: mean=500.9ms, total=2.00s, count=4, min=462.7ms, max=523.7ms + scene_randomize: mean=1.9ms, total=7.7ms, count=4, min=1.6ms, max=2.9ms + mj_forward_sync: mean=641.6us, total=2.6ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=23.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032014m [env.py: 870] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35776562 -0.37218874 -0.03201362] yaw=-124.6deg [env.py: 1019] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02304408 -0.60068662 -0.03201362] yaw=-136.0deg [env.py: 1019] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=223.6ms, total=223.7ms [env.py: 1075] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.358, -0.372, -0.032) [env.py: 1079] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.6 deg [env.py: 1082] +05/18 15:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:17 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.251s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:51:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.542[m] 70.511[deg] [grasp_sample.py: 596] +05/18 15:51:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:51:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:51:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:09 INFO: [Worker 0] Worker 0 house 2 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:54:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 15:54:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:54:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:54:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:54:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 15:54:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.51s (batch: 3.93s, save: 10.58s) [pipeline.py: 300] +05/18 15:54:47 INFO: [Worker 0] [PROFILE] Episode 5 house 2 success=True episode_total=0.54s: + episode_total: mean=211.29s, total=211.29s, count=1, min=211287.4ms, max=211287.4ms + sensor_polling: mean=524.0ms, total=157.19s, count=300, min=487.6ms, max=645.9ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10580.3ms, max=10580.3ms + physics_step: mean=32.3ms, total=9.68s, count=300, min=24.4ms, max=39.1ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3929.4ms, max=3929.4ms + task_sampling: mean=543.6ms, total=543.6ms, count=1, min=543.6ms, max=543.6ms + task_specific_sample: mean=540.4ms, total=540.4ms, count=1, min=540.4ms, max=540.4ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=613.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083361m [env.py: 870] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16989754 -0.97475718 0.08336131] yaw=161.6deg [env.py: 1019] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.29170335 -1.31269852 0.08336131] yaw=179.8deg [env.py: 1019] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.46049423 -0.17257022 0.08336131] yaw=-104.3deg [env.py: 1019] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=181.0ms, total=181.1ms [env.py: 1075] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.170, -0.975, 0.083) [env.py: 1079] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg [env.py: 1082] +05/18 15:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:50 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.198s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.337[m] 83.723[deg] [grasp_sample.py: 596] +05/18 15:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:52 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 15:55:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:12 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:58:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 15:58:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:58:33 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/18 15:58:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:58:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 15:58:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 12.73s (batch: 3.79s, save: 8.94s) [pipeline.py: 300] +05/18 15:58:46 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=True episode_total=0.49s: + episode_total: mean=236.97s, total=236.97s, count=1, min=236968.3ms, max=236968.3ms + sensor_polling: mean=538.4ms, total=145.36s, count=270, min=498.5ms, max=655.2ms + physics_step: mean=34.9ms, total=9.43s, count=270, min=21.6ms, max=45.2ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8937.9ms, max=8937.9ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.1ms, max=3787.1ms + task_sampling: mean=491.0ms, total=491.0ms, count=1, min=491.0ms, max=491.0ms + task_specific_sample: mean=486.5ms, total=486.5ms, count=1, min=486.5ms, max=486.5ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=613.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:58:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094259m [env.py: 870] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19165137 -0.26201481 0.09425866] yaw=-158.9deg [env.py: 1019] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=214.0ms, total=214.1ms [env.py: 1075] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.262, 0.094) [env.py: 1079] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg [env.py: 1082] +05/18 15:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:48 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.826s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:58:53 ERROR: [Worker 0] Worker 0 house 2 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:58:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:55 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:58:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048985m [env.py: 870] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11577634 -0.48174126 -0.04898468] yaw=-177.3deg [env.py: 1019] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0636693 -0.70076875 -0.04898468] yaw=-143.9deg [env.py: 1019] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04741595 -0.8230218 -0.04898468] yaw=-190.9deg [env.py: 1019] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.2ms [env.py: 1075] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.116, -0.482, -0.049) [env.py: 1079] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg [env.py: 1082] +05/18 15:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:55 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.205s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 112.530[deg] [grasp_sample.py: 596] +05/18 15:59:03 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:59:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:59:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:59:04 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 15:59:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011346m [env.py: 870] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.3892071 -0.36024364 -0.01134563] yaw=-134.8deg [env.py: 1019] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 141.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39584391 -0.37938184 -0.01134563] yaw=-128.4deg [env.py: 1019] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.06259814 -0.60221066 -0.01134563] yaw=-170.2deg [env.py: 1019] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.4ms, total=191.5ms [env.py: 1075] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.389, -0.360, -0.011) [env.py: 1079] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg [env.py: 1082] +05/18 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/18 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:05 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.842s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 75.178[deg] [grasp_sample.py: 596] +05/18 15:59:09 ERROR: [Worker 0] Worker 0 house 2 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:59:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:59:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:59:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:59:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053250m [env.py: 870] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19669274 -0.80600221 -0.05325011] yaw=-182.8deg [env.py: 1019] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02386002 -1.46791302 -0.05325011] yaw=177.9deg [env.py: 1019] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.8ms [env.py: 1075] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -0.806, -0.053) [env.py: 1079] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.8 deg [env.py: 1082] +05/18 15:59:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.276m [env.py: 1086] +05/18 15:59:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:11 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.865s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:59:16 ERROR: [Worker 0] Worker 0 house 2 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:59:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:59:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:59:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:59:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079859m [env.py: 870] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23705644 -1.16558018 0.07985873] yaw=175.7deg [env.py: 1019] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=213.8ms, total=213.9ms [env.py: 1075] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.237, -1.166, 0.080) [env.py: 1079] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg [env.py: 1082] +05/18 15:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:18 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.993s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 98.065[deg] [grasp_sample.py: 596] +05/18 15:59:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:59:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:59:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:00:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:00:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:01:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:01:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:52 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.052s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:52 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.291[deg] [grasp_sample.py: 596] +05/18 16:01:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:01:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:01:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:02:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:31 INFO: [Worker 0] Worker 0 house 2 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:02:53 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 16:02:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:02:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:03:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:03:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 16:03:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.21s (batch: 3.88s, save: 10.34s) [pipeline.py: 300] +05/18 16:03:08 INFO: [Worker 0] [PROFILE] Episode 11 house 2 success=True episode_total=2.49s: + episode_total: mean=50.69s, total=253.46s, count=5, min=4314.7ms, max=230372.7ms + sensor_polling: mean=543.6ms, total=163.08s, count=300, min=505.8ms, max=659.8ms + save_trajectories: mean=10.34s, total=10.34s, count=1, min=10338.6ms, max=10338.6ms + physics_step: mean=31.3ms, total=9.40s, count=300, min=24.9ms, max=36.0ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.0ms, max=3875.0ms + task_sampling: mean=497.9ms, total=2.49s, count=5, min=412.2ms, max=539.6ms + task_specific_sample: mean=494.6ms, total=2.47s, count=5, min=408.8ms, max=535.7ms + scene_randomize: mean=1.8ms, total=8.8ms, count=5, min=1.5ms, max=2.5ms + mj_forward_sync: mean=583.4us, total=2.9ms, count=5, min=0.6ms, max=0.6ms + policy_setup: mean=17.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:03:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019307m [env.py: 870] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16568353 -0.59688002 0.01930662] yaw=-168.6deg [env.py: 1019] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.42473685 -0.16431066 0.01930662] yaw=-114.7deg [env.py: 1019] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.27568934 -0.43772704 0.01930662] yaw=-138.2deg [env.py: 1019] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.2ms [env.py: 1075] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -0.597, 0.019) [env.py: 1079] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg [env.py: 1082] +05/18 16:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.280m [env.py: 1086] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:10 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.853s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:15 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:17 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 16:03:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079242m [env.py: 870] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07604546 -0.40060233 -0.0792423 ] yaw=-130.5deg [env.py: 1019] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12236184 -1.25680903 -0.0792423 ] yaw=145.2deg [env.py: 1019] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.1ms, total=231.2ms [env.py: 1075] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -0.401, -0.079) [env.py: 1079] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.5 deg [env.py: 1082] +05/18 16:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.261m [env.py: 1086] +05/18 16:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:18 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.947s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:23 ERROR: [Worker 0] Worker 0 house 2 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:23 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 16:03:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033753m [env.py: 870] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22039785 -0.15125862 0.03375287] yaw=-128.0deg [env.py: 1019] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09203754 -0.40848098 0.03375287] yaw=-166.2deg [env.py: 1019] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01289284 -1.38646435 0.03375287] yaw=180.2deg [env.py: 1019] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms [env.py: 1075] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.220, -0.151, 0.034) [env.py: 1079] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.0 deg [env.py: 1082] +05/18 16:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.146m [env.py: 1086] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:25 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.016s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:30 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099697m [env.py: 870] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12101151 -0.57663113 -0.099697 ] yaw=-151.2deg [env.py: 1019] +05/18 16:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.8ms, total=221.9ms [env.py: 1075] +05/18 16:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -0.577, -0.100) [env.py: 1079] +05/18 16:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg [env.py: 1082] +05/18 16:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/18 16:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:33 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.912s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:40 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.631[m] 64.712[deg] [grasp_sample.py: 596] +05/18 16:03:42 ERROR: [Worker 0] Worker 0 house 2 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:03:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:44 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 16:03:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083988m [env.py: 870] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06034715 -1.45636929 0.08398823] yaw=174.9deg [env.py: 1019] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08221121 -0.72597325 0.08398823] yaw=-159.5deg [env.py: 1019] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17944843 -1.09549954 0.08398823] yaw=144.0deg [env.py: 1019] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=195.3ms, total=195.4ms [env.py: 1075] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.060, -1.456, 0.084) [env.py: 1079] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg [env.py: 1082] +05/18 16:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.257m [env.py: 1086] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:44 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.979s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:49 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:51 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051287m [env.py: 870] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18662525 -0.36869736 0.05128672] yaw=-147.4deg [env.py: 1019] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.51172167 -0.04324249 0.05128672] yaw=-102.0deg [env.py: 1019] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03361019 -1.14081003 0.05128672] yaw=167.4deg [env.py: 1019] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.4ms [env.py: 1075] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.187, -0.369, 0.051) [env.py: 1079] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg [env.py: 1082] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:51 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.087s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.555[m] 80.817[deg] [grasp_sample.py: 596] +05/18 16:04:00 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:04:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:02 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 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064946m [env.py: 870] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01687315 -0.35236016 -0.06494551] yaw=-159.9deg [env.py: 1019] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27057726 -0.36496789 -0.06494551] yaw=-140.0deg [env.py: 1019] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.3ms, total=219.3ms [env.py: 1075] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.017, -0.352, -0.065) [env.py: 1079] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg [env.py: 1082] +05/18 16:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.228m [env.py: 1086] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:03 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.903s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:04:08 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:04:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035003m [env.py: 870] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0056991 -0.71399459 0.03500326] yaw=-163.6deg [env.py: 1019] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.08343439 -0.96710309 0.03500326] yaw=196.1deg [env.py: 1019] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0251579 -1.46040767 0.03500326] yaw=132.7deg [env.py: 1019] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.4ms [env.py: 1075] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.006, -0.714, 0.035) [env.py: 1079] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg [env.py: 1082] +05/18 16:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:10 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.342s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 87.216[deg] [grasp_sample.py: 596] +05/18 16:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:05:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:05 INFO: [Worker 0] Worker 0 house 2 episode 19 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:07:28 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 16:07:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:07:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:07:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:07:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 16:07:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.25s (batch: 3.88s, save: 10.37s) [pipeline.py: 300] +05/18 16:07:43 INFO: [Worker 0] [PROFILE] Episode 19 house 2 success=True episode_total=4.21s: + episode_total: mean=32.58s, total=260.65s, count=8, min=5618.7ms, max=213356.4ms + sensor_polling: mean=529.7ms, total=158.91s, count=300, min=488.0ms, max=647.0ms + save_trajectories: mean=10.37s, total=10.37s, count=1, min=10371.1ms, max=10371.1ms + physics_step: mean=32.8ms, total=9.85s, count=300, min=24.1ms, max=44.8ms + task_sampling: mean=525.7ms, total=4.21s, count=8, min=467.2ms, max=556.4ms + task_specific_sample: mean=522.2ms, total=4.18s, count=8, min=463.9ms, max=552.6ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.1ms, max=3875.1ms + scene_randomize: mean=1.8ms, total=14.6ms, count=8, min=1.5ms, max=2.4ms + mj_forward_sync: mean=627.3us, total=5.0ms, count=8, min=0.6ms, max=0.7ms + policy_setup: mean=15.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:07:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062859m [env.py: 870] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.30288815 -0.21130274 0.06285861] yaw=-163.3deg [env.py: 1019] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.1ms [env.py: 1075] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.303, -0.211, 0.063) [env.py: 1079] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.3 deg [env.py: 1082] +05/18 16:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:45 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.228s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.836[m] 84.921[deg] [grasp_sample.py: 596] +05/18 16:07:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:52 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 16:09:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:10:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:10:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:10:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.887s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 1.918[deg] [grasp_sample.py: 596] +05/18 16:10:37 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:39 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 16:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:39 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 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.059237m [env.py: 870] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.123939 -0.67766814 -0.05923698] yaw=-187.9deg [env.py: 1019] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00179326 -0.70256009 -0.05923698] yaw=-145.4deg [env.py: 1019] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15639248 -0.65238105 -0.05923698] yaw=-148.9deg [env.py: 1019] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=243.9ms [env.py: 1075] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.124, -0.678, -0.059) [env.py: 1079] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.9 deg [env.py: 1082] +05/18 16:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.222m [env.py: 1086] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:39 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.932s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:44 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:46 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 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095331m [env.py: 870] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20004666 -0.94355821 0.09533113] yaw=197.2deg [env.py: 1019] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02773178 -0.449608 0.09533113] yaw=-141.9deg [env.py: 1019] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.8ms, total=228.9ms [env.py: 1075] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.200, -0.944, 0.095) [env.py: 1079] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.2 deg [env.py: 1082] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:47 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.871s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 84.731[deg] [grasp_sample.py: 596] +05/18 16:10:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:48 INFO: [Worker 0] Worker 0 house 2 episode 22 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:14:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 16:14:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:14:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:14:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:14:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 16:14:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.62s (batch: 3.87s, save: 10.75s) [pipeline.py: 300] +05/18 16:14:26 INFO: [Worker 0] [PROFILE] Episode 22 house 2 success=True episode_total=1.70s: + episode_total: mean=132.55s, total=397.65s, count=3, min=5708.0ms, max=219939.5ms + sensor_polling: mean=526.3ms, total=294.22s, count=559, min=493.4ms, max=673.5ms + physics_step: mean=31.9ms, total=17.82s, count=559, min=22.6ms, max=45.6ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10753.5ms, max=10753.5ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3870.5ms, max=3870.5ms + task_sampling: mean=567.3ms, total=1.70s, count=3, min=559.2ms, max=574.3ms + task_specific_sample: mean=562.6ms, total=1.69s, count=3, min=554.6ms, max=570.7ms + scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.6ms, max=3.1ms + mj_forward_sync: mean=656.0us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:14:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006130m [env.py: 870] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14915508 -0.62751663 -0.00612996] yaw=-160.4deg [env.py: 1019] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.34755418 -0.21783109 -0.00612996] yaw=-142.3deg [env.py: 1019] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms [env.py: 1075] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -0.628, -0.006) [env.py: 1079] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg [env.py: 1082] +05/18 16:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.257m [env.py: 1086] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:28 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.957s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:34 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:35 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 16:14:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000599m [env.py: 870] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.328105 -0.49221577 -0.00059921] yaw=-150.5deg [env.py: 1019] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22854889 -0.21307593 -0.00059921] yaw=-150.8deg [env.py: 1019] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23533822 -0.11010782 -0.00059921] yaw=-129.1deg [env.py: 1019] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=139.7ms, total=139.8ms [env.py: 1075] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.328, -0.492, -0.001) [env.py: 1079] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg [env.py: 1082] +05/18 16:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:36 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.105s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 71.088[deg] [grasp_sample.py: 596] +05/18 16:14:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:15:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:16 INFO: [Worker 0] Worker 0 house 2 episode 24 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:17:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 16:17:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:17:37 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/18 16:17:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 16:17:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 13.38s (batch: 3.77s, save: 9.61s) [pipeline.py: 300] +05/18 16:17:51 INFO: [Worker 0] [PROFILE] Episode 24 house 2 success=True episode_total=1.03s: + episode_total: mean=100.94s, total=201.88s, count=2, min=5775.0ms, max=196102.9ms + sensor_polling: mean=541.9ms, total=145.78s, count=269, min=516.9ms, max=676.2ms + save_trajectories: mean=9.61s, total=9.61s, count=1, min=9608.8ms, max=9608.8ms + physics_step: mean=33.6ms, total=9.03s, count=269, min=22.9ms, max=50.2ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3767.9ms, max=3767.9ms + task_sampling: mean=517.0ms, total=1.03s, count=2, min=460.3ms, max=573.6ms + task_specific_sample: mean=512.9ms, total=1.03s, count=2, min=456.4ms, max=569.4ms + scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.5ms, max=2.7ms + mj_forward_sync: mean=646.7us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029035m [env.py: 870] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10860012 -0.93844348 0.02903506] yaw=161.2deg [env.py: 1019] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.31493922 0.03275809 0.02903506] yaw=-118.0deg [env.py: 1019] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.0ms, total=238.1ms [env.py: 1075] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.109, -0.938, 0.029) [env.py: 1079] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg [env.py: 1082] +05/18 16:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.183m [env.py: 1086] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:54 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.962s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:59 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:18:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:18:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:18:01 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 16:18:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082892m [env.py: 870] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18326872 -0.65739065 0.08289242] yaw=-165.8deg [env.py: 1019] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24948944 -0.67279236 0.08289242] yaw=-187.1deg [env.py: 1019] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.53856552 -0.24725215 0.08289242] yaw=-157.2deg [env.py: 1019] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=114.7ms, total=114.7ms [env.py: 1075] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -0.657, 0.083) [env.py: 1079] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.8 deg [env.py: 1082] +05/18 16:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.284m [env.py: 1086] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:01 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.913s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:18:06 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:18:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:18:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007179m [env.py: 870] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0081322 -0.70388749 -0.00717909] yaw=-175.7deg [env.py: 1019] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.36543633 0.15733661 -0.00717909] yaw=-113.5deg [env.py: 1019] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23020177 -0.49858961 -0.00717909] yaw=-178.3deg [env.py: 1019] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.6ms, total=137.7ms [env.py: 1075] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.008, -0.704, -0.007) [env.py: 1079] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg [env.py: 1082] +05/18 16:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:08 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.105s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:18:14 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.632[m] 96.609[deg] [grasp_sample.py: 596] +05/18 16:18:16 ERROR: [Worker 0] Worker 0 house 2 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:18:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:18:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:18:17 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 16:18:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075043m [env.py: 870] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13313437 -1.14602498 0.07504269] yaw=154.7deg [env.py: 1019] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11690328 -0.74035197 0.07504269] yaw=-143.0deg [env.py: 1019] +05/18 16:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.6ms [env.py: 1075] +05/18 16:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.133, -1.146, 0.075) [env.py: 1079] +05/18 16:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.7 deg [env.py: 1082] +05/18 16:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/18 16:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:18 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.695s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:18:21 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.469[m] 79.834[deg] [grasp_sample.py: 596] +05/18 16:18:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:18:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:18:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:19:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:19:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:19:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.849s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.078[m] 12.780[deg] [grasp_sample.py: 596] +05/18 16:19:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:20:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:20:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.135s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.222[deg] [grasp_sample.py: 596] +05/18 16:20:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:20:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:21:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:21:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.774s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:13 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.837[deg] [grasp_sample.py: 596] +05/18 16:21:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:21:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:21:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 16:21:57 INFO: [Worker 0] Worker 0 house 2 episode 28 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:21:57 INFO: [Worker 0] [PROFILE] Episode 28 house 2 success=False episode_total=2.01s: + episode_total: mean=59.63s, total=238.52s, count=4, min=5547.4ms, max=219669.5ms + sensor_polling: mean=538.9ms, total=145.50s, count=270, min=510.4ms, max=657.2ms + physics_step: mean=31.5ms, total=8.50s, count=270, min=21.3ms, max=52.3ms + task_sampling: mean=502.3ms, total=2.01s, count=4, min=430.7ms, max=569.4ms + task_specific_sample: mean=498.7ms, total=1.99s, count=4, min=427.1ms, max=564.6ms + scene_randomize: mean=2.0ms, total=7.8ms, count=4, min=1.5ms, max=3.1ms + mj_forward_sync: mean=646.8us, total=2.6ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=16.8us, 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 16:21:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:21:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:21:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096151m [env.py: 870] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.40148139 -0.06292527 0.0961506 ] yaw=-129.7deg [env.py: 1019] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.9ms, total=228.0ms [env.py: 1075] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.401, -0.063, 0.096) [env.py: 1079] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.7 deg [env.py: 1082] +05/18 16:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:59 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.915s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:22:05 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001842m [env.py: 870] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.1ms, total=217.1ms [env.py: 1105] +05/18 16:22:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:22:07 ERROR: [Worker 0] Worker 0 house 2 episode 30 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:22:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:08 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 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098962m [env.py: 870] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.18565058 -0.33142757 -0.0989616 ] yaw=-127.6deg [env.py: 1019] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20619727 -1.10518242 -0.0989616 ] yaw=194.0deg [env.py: 1019] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.2ms, total=241.3ms [env.py: 1075] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.186, -0.331, -0.099) [env.py: 1079] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg [env.py: 1082] +05/18 16:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/18 16:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:09 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.112s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.099s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.640[m] 100.639[deg] [grasp_sample.py: 596] +05/18 16:22:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:15 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 16:23:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:23:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:06 INFO: [Worker 0] Worker 0 house 2 episode 31 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:25:29 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 16:25:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:25:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:25:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:25:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 16:25:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.31s (batch: 3.87s, save: 10.44s) [pipeline.py: 300] +05/18 16:25:44 INFO: [Worker 0] [PROFILE] Episode 31 house 2 success=True episode_total=1.13s: + episode_total: mean=73.86s, total=221.59s, count=3, min=229.9ms, max=215664.3ms + sensor_polling: mean=516.7ms, total=155.01s, count=300, min=486.2ms, max=675.9ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10439.6ms, max=10439.6ms + physics_step: mean=32.1ms, total=9.62s, count=300, min=22.9ms, max=37.6ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.4ms, max=3873.4ms + task_specific_sample: mean=447.4ms, total=1.34s, count=3, min=223.3ms, max=564.4ms + task_sampling: mean=562.8ms, total=1.13s, count=2, min=558.0ms, max=567.6ms + task_sampling_failed: mean=229.9ms, total=229.9ms, count=1, min=229.9ms, max=229.9ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.6ms, max=1.8ms + mj_forward_sync: mean=645.8us, total=1.9ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=17.7us, total=0.0ms, count=2, 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 16:25:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:25:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006508m [env.py: 870] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.0761527 -0.70337223 -0.00650787] yaw=-146.0deg [env.py: 1019] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.48102836 -0.05203141 -0.00650787] yaw=-97.2deg [env.py: 1019] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0367087 -0.24289407 -0.00650787] yaw=-165.8deg [env.py: 1019] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=245.5ms, total=245.5ms [env.py: 1075] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.076, -0.703, -0.007) [env.py: 1079] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg [env.py: 1082] +05/18 16:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:46 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.580s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 98.043[deg] [grasp_sample.py: 596] +05/18 16:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:27:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:41 INFO: [Worker 0] Worker 0 house 2 episode 32 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:29:03 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [pipeline.py: 1174] +05/18 16:29:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_086 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:29:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:29:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:29:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_086 [save_utils.py: 785] +05/18 16:29:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_086 in 14.42s (batch: 3.86s, save: 10.56s) [pipeline.py: 300] +05/18 16:29:18 INFO: [Worker 0] [PROFILE] Episode 32 house 2 success=True episode_total=0.59s: + episode_total: mean=211.74s, total=211.74s, count=1, min=211742.7ms, max=211742.7ms + sensor_polling: mean=530.4ms, total=159.12s, count=300, min=490.2ms, max=660.5ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10558.8ms, max=10558.8ms + physics_step: mean=32.5ms, total=9.76s, count=300, min=25.2ms, max=48.9ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.4ms, max=3858.4ms + task_sampling: mean=585.4ms, total=585.4ms, count=1, min=585.4ms, max=585.4ms + task_specific_sample: mean=581.2ms, total=581.2ms, count=1, min=581.2ms, max=581.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=661.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:29:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:29:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:19 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:29:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:29:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087894m [env.py: 870] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06686753 -0.43507062 0.08789391] yaw=-170.3deg [env.py: 1019] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.31669626 -0.46593399 0.08789391] yaw=-164.5deg [env.py: 1019] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11714265 -0.21446272 0.08789391] yaw=-144.3deg [env.py: 1019] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.7ms, total=175.8ms [env.py: 1075] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.067, -0.435, 0.088) [env.py: 1079] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.3 deg [env.py: 1082] +05/18 16:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.238m [env.py: 1086] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:20 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:29:25 ERROR: [Worker 0] Worker 0 house 2 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:29:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:29:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:27 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:29:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:29:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004427m [env.py: 870] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0706486 -1.09600191 0.00442707] yaw=150.6deg [env.py: 1019] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.28046602 -0.32898586 0.00442707] yaw=-140.6deg [env.py: 1019] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.4ms, total=240.5ms [env.py: 1075] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.071, -1.096, 0.004) [env.py: 1079] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg [env.py: 1082] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:27 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.076s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:30 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.781[m] 102.418[deg] [grasp_sample.py: 596] +05/18 16:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:31:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:31:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:30 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.212s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.042[m] 8.530[deg] [grasp_sample.py: 596] +05/18 16:31:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:31:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:42 INFO: [Worker 0] Worker 0 house 2 episode 34 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:32:42 INFO: [Worker 0] [PROFILE] Episode 34 house 2 success=False episode_total=1.08s: + episode_total: mean=100.47s, total=200.94s, count=2, min=5742.7ms, max=195200.1ms + sensor_polling: mean=527.7ms, total=158.31s, count=300, min=499.2ms, max=663.9ms + physics_step: mean=31.9ms, total=9.57s, count=300, min=25.7ms, max=55.3ms + task_sampling: mean=542.4ms, total=1.08s, count=2, min=516.5ms, max=568.4ms + task_specific_sample: mean=538.1ms, total=1.08s, count=2, min=511.8ms, max=564.5ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.6ms, max=3.2ms + mj_forward_sync: mean=653.2us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:32:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:32:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:32:44 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 16:32:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089210m [env.py: 870] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10189147 -0.48950193 0.08920976] yaw=-177.9deg [env.py: 1019] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.29218485 -0.29576968 0.08920976] yaw=-156.4deg [env.py: 1019] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1099745 -0.69345179 0.08920976] yaw=-182.1deg [env.py: 1019] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=201.5ms, total=201.6ms [env.py: 1075] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -0.490, 0.089) [env.py: 1079] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.9 deg [env.py: 1082] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.251m [env.py: 1086] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:44 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.955s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:50 ERROR: [Worker 0] Worker 0 house 2 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:32:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:51 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:32:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028606m [env.py: 870] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.165099 -0.80773335 0.02860634] yaw=-174.9deg [env.py: 1019] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.45154138 -0.06242548 0.02860634] yaw=-135.9deg [env.py: 1019] +05/18 16:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms [env.py: 1075] +05/18 16:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -0.808, 0.029) [env.py: 1079] +05/18 16:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg [env.py: 1082] +05/18 16:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.244m [env.py: 1086] +05/18 16:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:52 INFO: [Worker 0] Worker 0 house 2 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.967s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:57 ERROR: [Worker 0] Worker 0 house 2 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:32:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:32:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060157m [env.py: 870] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16955855 -0.28895183 0.0601568 ] yaw=-141.0deg [env.py: 1019] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0968245 -1.3264221 0.0601568] yaw=184.7deg [env.py: 1019] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.01052655 -0.50922512 0.0601568 ] yaw=-174.4deg [env.py: 1019] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.3ms [env.py: 1075] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.170, -0.289, 0.060) [env.py: 1079] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg [env.py: 1082] +05/18 16:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.101m [env.py: 1086] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:59 INFO: [Worker 0] Worker 0 house 2 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.705s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.807[m] 131.801[deg] [grasp_sample.py: 596] +05/18 16:33:09 ERROR: [Worker 0] Worker 0 house 2 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:33:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:11 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 16:33:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041659m [env.py: 870] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1675601 -0.37843072 -0.0416593 ] yaw=-173.0deg [env.py: 1019] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2071034 -0.98833238 -0.0416593 ] yaw=203.3deg [env.py: 1019] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.9ms, total=237.0ms [env.py: 1075] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.168, -0.378, -0.042) [env.py: 1079] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg [env.py: 1082] +05/18 16:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:11 INFO: [Worker 0] Worker 0 house 2 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.121s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.711[m] 99.935[deg] [grasp_sample.py: 596] +05/18 16:33:18 ERROR: [Worker 0] Worker 0 house 2 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:20 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 16:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.075m, effective arm-mount z=0.785m (base_body_z=-0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.075246m [env.py: 870] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32314431 -0.51793031 -0.07524649] yaw=-152.3deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.3114043 -0.45742282 -0.07524649] yaw=-136.6deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0484735 -1.51811667 -0.07524649] yaw=157.6deg [env.py: 1019] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.7ms, total=194.7ms [env.py: 1075] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.323, -0.518, -0.075) [env.py: 1079] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg [env.py: 1082] +05/18 16:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:21 INFO: [Worker 0] Worker 0 house 2 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.538s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 75.805[deg] [grasp_sample.py: 596] +05/18 16:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:33:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:33:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_2/chunk_086/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_086/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75b851652e330dc8f02fe2d824b5d70735f98522 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_086/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0423ba067d3448651e6af6a220d04db1f3d75fac635b237ca3463197133e06e2 +size 687707460