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'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + '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 13:42:24 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 13:42:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:25 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:28 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:28 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:28 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157511m [env.py: 870] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0113267 -1.30233692 -0.15751129] yaw=-1.4deg [env.py: 1019] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31744738 -1.09313931 -0.15751129] yaw=-34.1deg [env.py: 1019] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=11.5ms, retries=166.7ms, total=178.2ms [env.py: 1075] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.011, -1.302, -0.158) [env.py: 1079] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -1.4 deg [env.py: 1082] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:28 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 13:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 25.058s [base_object_manipulation_planner_policy.py: 377] +05/18 13:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:42:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:42:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.072s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:42:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.938s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:42:56 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183640m [env.py: 870] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18696671 -0.9453945 -0.18363981] yaw=-53.7deg [env.py: 1019] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.8ms, total=147.8ms [env.py: 1075] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -0.945, -0.184) [env.py: 1079] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg [env.py: 1082] +05/18 13:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:57 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:42:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:42:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:42:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.899s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:42:59 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:43:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:43:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141899m [env.py: 870] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=144.9ms, total=144.9ms [env.py: 1105] +05/18 13:43:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:43:01 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130236m [env.py: 870] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16993579 -1.17380721 -0.13023593] yaw=-40.5deg [env.py: 1019] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.84909103 -0.8385533 -0.13023593] yaw=-79.6deg [env.py: 1019] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20612571 -1.19853826 -0.13023593] yaw=-10.6deg [env.py: 1019] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms [env.py: 1075] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.170, -1.174, -0.130) [env.py: 1079] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg [env.py: 1082] +05/18 13:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:03 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.995s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:08 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.761[m] 91.857[deg] [grasp_sample.py: 596] +05/18 13:43:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:43:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:43:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:44:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:44:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.086s, found 343 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.349s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:01 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.053[m] 1.364[deg] [grasp_sample.py: 596] +05/18 13:44:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:44:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:44:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:44:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:12 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:44:25 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:44:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:44:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:44:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:44:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:44:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.31s (batch: 2.56s, save: 6.75s) [pipeline.py: 300] +05/18 13:44:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=4.62s: + episode_total: mean=31.52s, total=126.07s, count=4, min=151.2ms, max=92448.4ms + sensor_polling: mean=193.5ms, total=58.05s, count=300, min=174.9ms, max=300.1ms + save_trajectories: mean=6.75s, total=6.75s, count=1, min=6746.9ms, max=6746.9ms + task_sampling: mean=1.54s, total=4.62s, count=3, min=255.2ms, max=4042.5ms + physics_step: mean=13.7ms, total=4.12s, count=300, min=10.8ms, max=30.7ms + scene_load: mean=3.67s, total=3.67s, count=1, min=3674.1ms, max=3674.1ms + save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2561.1ms, max=2561.1ms + scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.1ms, max=2202.1ms + scene_compile: mean=1.29s, total=1.29s, count=1, min=1288.7ms, max=1288.7ms + task_specific_sample: mean=272.5ms, total=1.09s, count=4, min=148.7ms, max=365.9ms + compile_mujoco: mean=729.1ms, total=729.1ms, count=1, min=729.1ms, max=729.1ms + compile_xml_load: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms + task_sampling_failed: mean=151.2ms, total=151.2ms, count=1, min=151.2ms, max=151.2ms + scene_asset_install: mean=113.9ms, total=113.9ms, count=1, min=113.9ms, max=113.9ms + scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms + asset_install_objects: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms + asset_install_grasps: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_objects: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + compile_aux_policy_objects: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + compile_robot_add: mean=21.5ms, total=21.5ms, count=1, min=21.5ms, max=21.5ms + scene_randomize: mean=993.9us, total=4.0ms, count=4, min=0.8ms, max=1.3ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=324.4us, total=1.3ms, count=4, min=0.3ms, max=0.4ms + policy_setup: mean=17.3us, 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 13:44:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:44:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169686m [env.py: 870] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=147.5ms, total=147.5ms [env.py: 1105] +05/18 13:44:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:44:36 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139106m [env.py: 870] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.90016292 -0.72466317 -0.13910556] yaw=-64.0deg [env.py: 1019] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.79352222 -0.91989007 -0.13910556] yaw=-85.7deg [env.py: 1019] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.0704491 -1.28173492 -0.13910556] yaw=-14.4deg [env.py: 1019] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.8ms [env.py: 1075] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.900, -0.725, -0.139) [env.py: 1079] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:38 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.494s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:42 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 1.041[m] 55.027[deg] [grasp_sample.py: 596] +05/18 13:44:43 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:44:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:44:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171282m [env.py: 870] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1859936 -1.1696894 -0.17128207] yaw=-63.7deg [env.py: 1019] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33245831 -0.86662993 -0.17128207] yaw=-46.3deg [env.py: 1019] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=148.9ms [env.py: 1075] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -1.170, -0.171) [env.py: 1079] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/18 13:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:44 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.927s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:46 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.825[m] 89.553[deg] [grasp_sample.py: 596] +05/18 13:44:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:44:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:44:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:45:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:45:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:50 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:46:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:46:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:46:03 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/18 13:46:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:46:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:46:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.67s (batch: 2.47s, save: 7.20s) [pipeline.py: 300] +05/18 13:46:13 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.64s: + episode_total: mean=31.33s, total=94.00s, count=3, min=155.3ms, max=89134.7ms + sensor_polling: mean=193.1ms, total=57.74s, count=299, min=177.5ms, max=300.3ms + save_trajectories: mean=7.20s, total=7.20s, count=1, min=7198.0ms, max=7198.0ms + physics_step: mean=13.4ms, total=4.00s, count=299, min=11.2ms, max=18.2ms + save_batch_prep: mean=2.47s, total=2.47s, count=1, min=2474.0ms, max=2474.0ms + task_specific_sample: mean=263.8ms, total=791.5ms, count=3, min=151.9ms, max=327.4ms + task_sampling: mean=322.0ms, total=643.9ms, count=2, min=314.6ms, max=329.4ms + task_sampling_failed: mean=155.3ms, total=155.3ms, count=1, min=155.3ms, max=155.3ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=337.3us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=16.3us, 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 13:46:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179218m [env.py: 870] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25601342 -1.17925521 -0.17921811] yaw=-24.2deg [env.py: 1019] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60910951 -0.8789451 -0.17921811] yaw=-51.4deg [env.py: 1019] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.8ms, total=155.8ms [env.py: 1075] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.179, -0.179) [env.py: 1079] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.2 deg [env.py: 1082] +05/18 13:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:15 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.006s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:17 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.770[m] 73.290[deg] [grasp_sample.py: 596] +05/18 13:46:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:46:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:46:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:18 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:47:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:47:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:47:30 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/18 13:47:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:47:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:47:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.27s (batch: 2.44s, save: 6.82s) [pipeline.py: 300] +05/18 13:47:40 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.34s: + episode_total: mean=85.14s, total=85.14s, count=1, min=85139.0ms, max=85139.0ms + sensor_polling: mean=190.7ms, total=54.92s, count=288, min=176.7ms, max=355.6ms + save_trajectories: mean=6.82s, total=6.82s, count=1, min=6824.5ms, max=6824.5ms + physics_step: mean=13.6ms, total=3.92s, count=288, min=10.6ms, max=15.7ms + save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2444.0ms, max=2444.0ms + task_sampling: mean=342.4ms, total=342.4ms, count=1, min=342.4ms, max=342.4ms + task_specific_sample: mean=339.8ms, total=339.8ms, count=1, min=339.8ms, max=339.8ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=323.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:47:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104866m [env.py: 870] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16807025 -1.44838395 -0.10486569] yaw=-40.8deg [env.py: 1019] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44398781 -0.77367511 -0.10486569] yaw=-54.8deg [env.py: 1019] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32995684 -1.19646282 -0.10486569] yaw=-44.8deg [env.py: 1019] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.6ms, total=131.6ms [env.py: 1075] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.448, -0.105) [env.py: 1079] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.8 deg [env.py: 1082] +05/18 13:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:42 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.045s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:44 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.650[m] 96.293[deg] [grasp_sample.py: 596] +05/18 13:47:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:48:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:48:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:48:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:48:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:48:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 181 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:03 INFO: [Worker 0] Feasibility-checked 181 grasps in 12.065s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:03 INFO: [Worker 0] Feasible grasp found 54 (originally 54): w/ 0.022[m] 96.969[deg] [grasp_sample.py: 596] +05/18 13:49:04 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169452m [env.py: 870] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14272733 -1.1802773 -0.16945246] yaw=-8.4deg [env.py: 1019] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61283444 -0.70940627 -0.16945246] yaw=-68.2deg [env.py: 1019] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.92027834 -0.77078356 -0.16945246] yaw=-86.5deg [env.py: 1019] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.5ms, total=152.5ms [env.py: 1075] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.180, -0.169) [env.py: 1079] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.4 deg [env.py: 1082] +05/18 13:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:06 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.953s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:12 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.812[m] 66.336[deg] [grasp_sample.py: 596] +05/18 13:49:12 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:49:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117703m [env.py: 870] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51030549 -0.91762261 -0.11770266] yaw=-79.5deg [env.py: 1019] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14222702 -1.42351292 -0.11770266] yaw=-15.2deg [env.py: 1019] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.4ms, total=152.5ms [env.py: 1075] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -0.918, -0.118) [env.py: 1079] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.5 deg [env.py: 1082] +05/18 13:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:14 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.067s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.616[m] 98.313[deg] [grasp_sample.py: 596] +05/18 13:49:17 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:49:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129274m [env.py: 870] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43556689 -0.80583371 -0.12927406] yaw=-63.0deg [env.py: 1019] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30934044 -1.14320887 -0.12927406] yaw=-47.0deg [env.py: 1019] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.3ms [env.py: 1075] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -0.806, -0.129) [env.py: 1079] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/18 13:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:19 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.879s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:49:21 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:49:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187709m [env.py: 870] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.86579074 -0.78992949 -0.18770945] yaw=-110.7deg [env.py: 1019] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65832801 -0.84395694 -0.18770945] yaw=-84.0deg [env.py: 1019] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.7ms, total=150.7ms [env.py: 1075] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.866, -0.790, -0.188) [env.py: 1079] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.7 deg [env.py: 1082] +05/18 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:23 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.391s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:25 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.686[m] 87.296[deg] [grasp_sample.py: 596] +05/18 13:49:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:49:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.740s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:39 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.599[m] 72.900[deg] [grasp_sample.py: 596] +05/18 13:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:49:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.066s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.076s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:49 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.599[m] 72.903[deg] [grasp_sample.py: 596] +05/18 13:49:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:49:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:49:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:49:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.733s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:59 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.599[m] 72.903[deg] [grasp_sample.py: 596] +05/18 13:49:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:50:06 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:50:06 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:50:06 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=1.63s: + episode_total: mean=27.78s, total=138.89s, count=5, min=2304.5ms, max=82261.4ms + sensor_polling: mean=196.4ms, total=57.74s, count=294, min=182.9ms, max=309.9ms + physics_step: mean=13.4ms, total=3.93s, count=294, min=9.1ms, max=16.8ms + task_sampling: mean=326.3ms, total=1.63s, count=5, min=320.4ms, max=332.8ms + task_specific_sample: mean=324.0ms, total=1.62s, count=5, min=318.5ms, max=330.3ms + scene_randomize: mean=996.0us, total=5.0ms, count=5, min=0.8ms, max=1.6ms + mj_forward_sync: mean=311.4us, total=1.6ms, count=5, min=0.3ms, max=0.3ms + policy_setup: mean=15.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:50:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:50:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158109m [env.py: 870] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18199677 -0.95159735 -0.15810902] yaw=-44.1deg [env.py: 1019] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.70727179 -0.92735845 -0.15810902] yaw=-53.5deg [env.py: 1019] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.4ms [env.py: 1075] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -0.952, -0.158) [env.py: 1079] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/18 13:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:50:08 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:50:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.914s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:50:10 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106784m [env.py: 870] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17394964 -1.2780402 -0.1067843 ] yaw=-17.3deg [env.py: 1019] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26111536 -1.29540018 -0.1067843 ] yaw=-39.2deg [env.py: 1019] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:50:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.3ms [env.py: 1075] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.278, -0.107) [env.py: 1079] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.3 deg [env.py: 1082] +05/18 13:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 13:50:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:50:12 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:50:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 13:50:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:50:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.835s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:50:13 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.847[m] 80.104[deg] [grasp_sample.py: 596] +05/18 13:50:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:50:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:50:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:50:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:51:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 94 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:08 INFO: [Worker 0] Feasibility-checked 94 grasps in 2.044s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:08 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.035[m] 4.013[deg] [grasp_sample.py: 596] +05/18 13:51:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:51:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:51:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:51:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:51:33 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:51:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:51:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:51:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:51:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:51:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.46s (batch: 2.53s, save: 6.94s) [pipeline.py: 300] +05/18 13:51:43 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.65s: + episode_total: mean=47.13s, total=94.26s, count=2, min=2346.4ms, max=91914.7ms + sensor_polling: mean=192.0ms, total=57.59s, count=300, min=171.8ms, max=314.3ms + save_trajectories: mean=6.94s, total=6.94s, count=1, min=6937.7ms, max=6937.7ms + physics_step: mean=13.5ms, total=4.04s, count=300, min=10.6ms, max=19.7ms + save_batch_prep: mean=2.53s, total=2.53s, count=1, min=2527.1ms, max=2527.1ms + task_sampling: mean=323.7ms, total=647.4ms, count=2, min=322.8ms, max=324.7ms + task_specific_sample: mean=321.5ms, total=643.0ms, count=2, min=320.3ms, max=322.7ms + scene_randomize: mean=862.2us, total=1.7ms, count=2, min=0.8ms, max=0.9ms + mj_forward_sync: mean=300.0us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:51:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134490m [env.py: 870] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=150.2ms, total=150.2ms [env.py: 1105] +05/18 13:51:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:51:45 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:51:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167385m [env.py: 870] +05/18 13:51:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.7ms, total=143.8ms [env.py: 1105] +05/18 13:51:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:51:47 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:51:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193948m [env.py: 870] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09071409 -1.4215874 -0.19394816] yaw=-4.2deg [env.py: 1019] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.0ms [env.py: 1075] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.422, -0.194) [env.py: 1079] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.2 deg [env.py: 1082] +05/18 13:51:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:48 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.210s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:54 INFO: [Worker 0] Feasible grasp found 161 (originally 161): w/ 0.759[m] 102.662[deg] [grasp_sample.py: 596] +05/18 13:51:55 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:51:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123238m [env.py: 870] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59599989 -0.79488398 -0.1232377 ] yaw=-76.3deg [env.py: 1019] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12300875 -1.43079402 -0.1232377 ] yaw=-9.0deg [env.py: 1019] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2897043 -0.9734133 -0.1232377] yaw=-21.5deg [env.py: 1019] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.4ms, total=141.4ms [env.py: 1075] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.795, -0.123) [env.py: 1079] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg [env.py: 1082] +05/18 13:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:57 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.173s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.864[m] 66.687[deg] [grasp_sample.py: 596] +05/18 13:51:59 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192843m [env.py: 870] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14201052 -1.26844393 -0.19284261] yaw=-17.9deg [env.py: 1019] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.7ms [env.py: 1075] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.142, -1.268, -0.193) [env.py: 1079] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.9 deg [env.py: 1082] +05/18 13:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:00 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.748s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:03 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.717[m] 86.659[deg] [grasp_sample.py: 596] +05/18 13:52:04 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:04 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/18 13:52:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104501m [env.py: 870] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55403424 -0.96735186 -0.10450086] yaw=-61.4deg [env.py: 1019] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2608343 -1.14749779 -0.10450086] yaw=-66.6deg [env.py: 1019] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44321538 -0.87308075 -0.10450086] yaw=-56.9deg [env.py: 1019] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.4ms, total=98.4ms [env.py: 1075] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.967, -0.105) [env.py: 1079] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/18 13:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:06 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.915s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:08 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.550[m] 97.228[deg] [grasp_sample.py: 596] +05/18 13:52:09 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105010m [env.py: 870] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39571545 -0.88184802 -0.10500954] yaw=-52.9deg [env.py: 1019] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.2ms, total=146.2ms [env.py: 1075] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.882, -0.105) [env.py: 1079] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/18 13:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:10 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.863s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:13 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.950[m] 46.876[deg] [grasp_sample.py: 596] +05/18 13:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155353m [env.py: 870] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85982989 -0.70004541 -0.15535345] yaw=-113.4deg [env.py: 1019] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.88611143 -0.68695578 -0.15535345] yaw=-109.5deg [env.py: 1019] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8983129 -0.91659219 -0.15535345] yaw=-64.4deg [env.py: 1019] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.0ms, total=100.0ms [env.py: 1075] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.860, -0.700, -0.155) [env.py: 1079] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.4 deg [env.py: 1082] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:16 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.235s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:20 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103802m [env.py: 870] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.0ms, total=143.0ms [env.py: 1105] +05/18 13:52:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:52:22 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:52:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136470m [env.py: 870] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.77780795 -0.66824428 -0.13646994] yaw=-96.7deg [env.py: 1019] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.0ms, total=147.0ms [env.py: 1075] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.778, -0.668, -0.136) [env.py: 1079] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.7 deg [env.py: 1082] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:24 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.062s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.851s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:26 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165505m [env.py: 870] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36659182 -1.12642007 -0.16550472] yaw=-53.4deg [env.py: 1019] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5741474 -0.89998712 -0.16550472] yaw=-51.9deg [env.py: 1019] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.3ms [env.py: 1075] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.126, -0.166) [env.py: 1079] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:27 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.060s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.981s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:29 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.748[m] 81.952[deg] [grasp_sample.py: 596] +05/18 13:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:30 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 13:53:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:53:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:33 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:53:46 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:53:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:53:46 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/18 13:53:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:53:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:53:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.72s (batch: 2.76s, save: 6.96s) [pipeline.py: 300] +05/18 13:53:56 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=2.46s: + episode_total: mean=10.61s, total=116.74s, count=11, min=150.0ms, max=89327.4ms + sensor_polling: mean=195.0ms, total=56.16s, count=288, min=180.5ms, max=341.1ms + save_trajectories: mean=6.96s, total=6.96s, count=1, min=6964.0ms, max=6964.0ms + physics_step: mean=13.5ms, total=3.89s, count=288, min=10.7ms, max=15.7ms + task_specific_sample: mean=263.3ms, total=2.90s, count=11, min=147.3ms, max=335.8ms + save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2758.9ms, max=2758.9ms + task_sampling: mean=308.0ms, total=2.46s, count=8, min=266.6ms, max=337.6ms + task_sampling_failed: mean=153.3ms, total=459.8ms, count=3, min=150.0ms, max=159.0ms + scene_randomize: mean=1.1ms, total=12.5ms, count=11, min=0.8ms, max=3.1ms + mj_forward_sync: mean=339.9us, total=3.7ms, count=11, min=0.3ms, max=0.4ms + policy_setup: mean=12.9us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:53:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:53:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167011m [env.py: 870] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81608682 -0.9203005 -0.16701078] yaw=-62.2deg [env.py: 1019] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54918976 -0.98716703 -0.16701078] yaw=-48.3deg [env.py: 1019] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2555493 -1.09094811 -0.16701078] yaw=-17.0deg [env.py: 1019] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:53:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.6ms [env.py: 1075] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.816, -0.920, -0.167) [env.py: 1079] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/18 13:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:53:58 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 13:53:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 13:53:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.815s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:59 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.660[m] 74.907[deg] [grasp_sample.py: 596] +05/18 13:53:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:59 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 13:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:54:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:54:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.750s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:12 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.571[m] 62.487[deg] [grasp_sample.py: 596] +05/18 13:54:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:54:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:54:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.005s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:21 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.566[m] 62.076[deg] [grasp_sample.py: 596] +05/18 13:54:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:54:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:30 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.566[m] 61.905[deg] [grasp_sample.py: 596] +05/18 13:54:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:54:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:54:38 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:54:38 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=False episode_total=0.32s: + episode_total: mean=39.77s, total=39.77s, count=1, min=39767.2ms, max=39767.2ms + sensor_polling: mean=191.9ms, total=11.13s, count=58, min=184.6ms, max=213.3ms + physics_step: mean=11.8ms, total=682.1ms, count=58, min=9.3ms, max=14.5ms + task_sampling: mean=323.4ms, total=323.4ms, count=1, min=323.4ms, max=323.4ms + task_specific_sample: mean=320.9ms, total=320.9ms, count=1, min=320.9ms, max=320.9ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=322.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:54:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:54:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126657m [env.py: 870] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=140.8ms, total=140.8ms [env.py: 1105] +05/18 13:54:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:54:39 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:54:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:54:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197198m [env.py: 870] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75464422 -0.85309681 -0.19719804] yaw=-90.7deg [env.py: 1019] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23062119 -1.17276603 -0.19719804] yaw=-58.6deg [env.py: 1019] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=151.2ms, total=151.2ms [env.py: 1075] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.755, -0.853, -0.197) [env.py: 1079] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.7 deg [env.py: 1082] +05/18 13:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:41 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.811s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:43 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.627[m] 99.282[deg] [grasp_sample.py: 596] +05/18 13:54:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:55:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:41 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:55:53 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:55:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:55:53 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/18 13:56:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:56:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:56:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.31s (batch: 2.44s, save: 5.87s) [pipeline.py: 300] +05/18 13:56:01 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.34s: + episode_total: mean=40.45s, total=80.90s, count=2, min=149.1ms, max=80751.1ms + sensor_polling: mean=197.2ms, total=52.86s, count=268, min=182.3ms, max=369.5ms + save_trajectories: mean=5.87s, total=5.87s, count=1, min=5874.7ms, max=5874.7ms + physics_step: mean=14.0ms, total=3.75s, count=268, min=10.7ms, max=19.1ms + save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2437.0ms, max=2437.0ms + task_specific_sample: mean=239.3ms, total=478.5ms, count=2, min=145.0ms, max=333.5ms + task_sampling: mean=336.3ms, total=336.3ms, count=1, min=336.3ms, max=336.3ms + task_sampling_failed: mean=149.1ms, total=149.1ms, count=1, min=149.1ms, max=149.1ms + scene_randomize: mean=958.8us, total=1.9ms, count=2, min=1.0ms, max=1.0ms + mj_forward_sync: mean=370.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=1, 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 13:56:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180879m [env.py: 870] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.89670947 -0.66954601 -0.18087885] yaw=-85.9deg [env.py: 1019] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms [env.py: 1075] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.897, -0.670, -0.181) [env.py: 1079] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.9 deg [env.py: 1082] +05/18 13:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:03 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.861s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:56:05 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:56:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135506m [env.py: 870] +05/18 13:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.87850005 -0.68334127 -0.13550616] yaw=-92.5deg [env.py: 1019] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35266709 -1.19017906 -0.13550616] yaw=-38.6deg [env.py: 1019] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.8ms, total=150.9ms [env.py: 1075] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.879, -0.683, -0.136) [env.py: 1079] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.5 deg [env.py: 1082] +05/18 13:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/18 13:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:07 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.887s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:56:09 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:56:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118549m [env.py: 870] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.77360623 -0.94335267 -0.11854902] yaw=-51.8deg [env.py: 1019] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4269466 -0.90089447 -0.11854902] yaw=-81.2deg [env.py: 1019] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.6ms [env.py: 1075] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.774, -0.943, -0.119) [env.py: 1079] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.8 deg [env.py: 1082] +05/18 13:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:11 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.070s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.655s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.641[m] 69.850[deg] [grasp_sample.py: 596] +05/18 13:56:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:13 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 13:56:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:56:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.968s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:28 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.370[m] 48.001[deg] [grasp_sample.py: 596] +05/18 13:56:29 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134124m [env.py: 870] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=144.6ms, total=144.6ms [env.py: 1105] +05/18 13:56:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:56:30 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:56:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169291m [env.py: 870] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46354503 -0.99775546 -0.16929099] yaw=-65.7deg [env.py: 1019] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.3ms, total=147.4ms [env.py: 1075] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.998, -0.169) [env.py: 1079] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:32 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.254s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:37 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.621[m] 104.474[deg] [grasp_sample.py: 596] +05/18 13:56:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:37 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 13:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:57:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:38 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:57:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:57:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:57:49 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/18 13:57:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:57:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:57:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.48s (batch: 2.46s, save: 6.01s) [pipeline.py: 300] +05/18 13:57:58 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=1.31s: + episode_total: mean=21.96s, total=109.79s, count=5, min=151.4ms, max=86537.3ms + sensor_polling: mean=194.4ms, total=64.17s, count=330, min=180.8ms, max=370.4ms + save_trajectories: mean=6.01s, total=6.01s, count=1, min=6013.4ms, max=6013.4ms + physics_step: mean=13.6ms, total=4.50s, count=330, min=10.6ms, max=16.7ms + save_batch_prep: mean=2.46s, total=2.46s, count=1, min=2462.4ms, max=2462.4ms + task_specific_sample: mean=289.1ms, total=1.45s, count=5, min=148.4ms, max=332.7ms + task_sampling: mean=326.7ms, total=1.31s, count=4, min=321.8ms, max=335.3ms + task_sampling_failed: mean=151.3ms, total=151.3ms, count=1, min=151.3ms, max=151.3ms + scene_randomize: mean=1.0ms, total=5.0ms, count=5, min=0.8ms, max=1.6ms + mj_forward_sync: mean=343.2us, total=1.7ms, count=5, min=0.3ms, max=0.4ms + policy_setup: mean=13.7us, total=0.1ms, count=4, 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 13:58:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:58:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:58:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:58:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:58:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:58:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101195m [env.py: 870] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:58:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.67040758 -0.87684232 -0.10119535] yaw=-57.2deg [env.py: 1019] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13249331 -1.22098613 -0.10119535] yaw=-12.9deg [env.py: 1019] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12040961 -1.24300868 -0.10119535] yaw=-5.5deg [env.py: 1019] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.8ms, total=78.8ms [env.py: 1075] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.670, -0.877, -0.101) [env.py: 1079] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/18 13:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:58:00 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 13:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 13:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:58:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:58:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:58:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.655s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:58:02 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.788[m] 70.423[deg] [grasp_sample.py: 596] +05/18 13:58:03 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:58:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:58:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140822m [env.py: 870] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06106897 -1.35971003 -0.1408222 ] yaw=-20.5deg [env.py: 1019] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3979172 -0.88320205 -0.1408222 ] yaw=-73.1deg [env.py: 1019] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:58:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.2ms [env.py: 1075] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.061, -1.360, -0.141) [env.py: 1079] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.5 deg [env.py: 1082] +05/18 13:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:58:04 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 13:58:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:58:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:58:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:58:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:58:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.864s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:58:06 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:58:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:58:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138806m [env.py: 870] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61741489 -0.91414794 -0.13880623] yaw=-62.4deg [env.py: 1019] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11798542 -1.42455222 -0.13880623] yaw=-27.8deg [env.py: 1019] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10710579 -1.12006174 -0.13880623] yaw=-64.0deg [env.py: 1019] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.8ms, total=98.8ms [env.py: 1075] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.617, -0.914, -0.139) [env.py: 1079] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/18 13:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:58:08 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 13:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 13:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:58:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:58:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:58:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.094s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:58:10 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.700[m] 119.254[deg] [grasp_sample.py: 596] +05/18 13:58:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:58:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:58:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:58:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:58:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:12 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:59:25 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 13:59:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:59:25 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/18 13:59:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:59:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 13:59:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.91s (batch: 2.67s, save: 6.24s) [pipeline.py: 300] +05/18 13:59:34 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.87s: + episode_total: mean=30.43s, total=91.28s, count=3, min=2296.2ms, max=86160.3ms + sensor_polling: mean=193.9ms, total=55.65s, count=287, min=178.8ms, max=368.8ms + save_trajectories: mean=6.24s, total=6.24s, count=1, min=6242.9ms, max=6242.9ms + physics_step: mean=14.1ms, total=4.04s, count=287, min=10.7ms, max=17.2ms + save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2671.8ms, max=2671.8ms + task_sampling: mean=288.8ms, total=866.3ms, count=3, min=269.3ms, max=324.6ms + task_specific_sample: mean=286.3ms, total=858.8ms, count=3, min=266.6ms, max=322.3ms + scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=0.8ms, max=1.6ms + mj_forward_sync: mean=308.1us, total=0.9ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=15.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176131m [env.py: 870] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38977736 -0.78613175 -0.17613055] yaw=-53.9deg [env.py: 1019] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3407204 -1.1847064 -0.17613055] yaw=-50.0deg [env.py: 1019] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms [env.py: 1075] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.786, -0.176) [env.py: 1079] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg [env.py: 1082] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:36 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.859s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:59:38 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118363m [env.py: 870] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78290057 -0.70360965 -0.1183633 ] yaw=-103.6deg [env.py: 1019] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.1ms [env.py: 1075] +05/18 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.783, -0.704, -0.118) [env.py: 1079] +05/18 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.6 deg [env.py: 1082] +05/18 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:40 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.860s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:59:42 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:59:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128807m [env.py: 870] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03537817 -1.17346978 -0.12880688] yaw=-22.1deg [env.py: 1019] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86897947 -0.66067246 -0.12880688] yaw=-108.9deg [env.py: 1019] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms [env.py: 1075] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.035, -1.173, -0.129) [env.py: 1079] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.1 deg [env.py: 1082] +05/18 13:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:43 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.875s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:59:45 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:59:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197928m [env.py: 870] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19225072 -1.21029258 -0.19792761] yaw=-9.1deg [env.py: 1019] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.8ms, total=275.8ms [env.py: 1075] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -1.210, -0.198) [env.py: 1079] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.1 deg [env.py: 1082] +05/18 13:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:47 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.072s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.122s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:54 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.561[m] 88.786[deg] [grasp_sample.py: 596] +05/18 13:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:59:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:59:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:54 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 14:00:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:00:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:48 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:00:58 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:00:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:00:58 INFO: [Worker 0] Preparing episode data: 250 timesteps [save_utils.py: 278] +05/18 14:01:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:01:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:01:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.05s (batch: 2.48s, save: 5.57s) [pipeline.py: 300] +05/18 14:01:07 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=1.44s: + episode_total: mean=21.74s, total=86.98s, count=4, min=2288.1ms, max=80046.5ms + sensor_polling: mean=197.9ms, total=49.28s, count=249, min=186.9ms, max=357.1ms + save_trajectories: mean=5.57s, total=5.57s, count=1, min=5569.5ms, max=5569.5ms + physics_step: mean=13.7ms, total=3.41s, count=249, min=10.7ms, max=16.1ms + save_batch_prep: mean=2.48s, total=2.48s, count=1, min=2480.0ms, max=2480.0ms + task_sampling: mean=359.7ms, total=1.44s, count=4, min=319.7ms, max=445.6ms + task_specific_sample: mean=357.4ms, total=1.43s, count=4, min=317.7ms, max=443.6ms + scene_randomize: mean=1.1ms, total=4.2ms, count=4, min=0.8ms, max=1.6ms + mj_forward_sync: mean=329.1us, total=1.3ms, count=4, min=0.3ms, max=0.4ms + policy_setup: mean=14.4us, 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 14:01:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:01:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167468m [env.py: 870] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.72585158 -0.84121495 -0.167468 ] yaw=-50.1deg [env.py: 1019] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=154.9ms, total=154.9ms [env.py: 1075] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.726, -0.841, -0.167) [env.py: 1079] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/18 14:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/18 14:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:09 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:01:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.072s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.369s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:11 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.906[m] 57.845[deg] [grasp_sample.py: 596] +05/18 14:01:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:01:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:01:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:01:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 488 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 160.236s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:04:35 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:04:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105904m [env.py: 870] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02522939 -1.32224618 -0.10590351] yaw=-14.7deg [env.py: 1019] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59677592 -0.98216364 -0.10590351] yaw=-78.3deg [env.py: 1019] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32491284 -1.06279421 -0.10590351] yaw=-57.7deg [env.py: 1019] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.0ms, total=78.1ms [env.py: 1075] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -1.322, -0.106) [env.py: 1079] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.7 deg [env.py: 1082] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:37 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.847s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:04:39 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:04:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115378m [env.py: 870] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.8396253 -0.72912642 -0.11537777] yaw=-73.0deg [env.py: 1019] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=150.8ms, total=150.8ms [env.py: 1075] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.840, -0.729, -0.115) [env.py: 1079] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg [env.py: 1082] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:41 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.927s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:42 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.796[m] 98.228[deg] [grasp_sample.py: 596] +05/18 14:04:43 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:04:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138913m [env.py: 870] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56458662 -0.81703834 -0.1389133 ] yaw=-69.4deg [env.py: 1019] +05/18 14:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.4ms [env.py: 1075] +05/18 14:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.817, -0.139) [env.py: 1079] +05/18 14:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/18 14:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/18 14:04:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:45 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.114s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:50 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.666[m] 109.621[deg] [grasp_sample.py: 596] +05/18 14:04:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:50 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 14:05:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:05:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:49 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:06:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:06:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:06:01 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/18 14:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:06:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.74s (batch: 2.75s, save: 5.99s) [pipeline.py: 300] +05/18 14:06:10 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.26s: + episode_total: mean=74.37s, total=297.48s, count=4, min=2128.3ms, max=207045.1ms + sensor_polling: mean=193.8ms, total=87.99s, count=454, min=175.5ms, max=353.2ms + physics_step: mean=13.3ms, total=6.04s, count=454, min=10.6ms, max=18.3ms + save_trajectories: mean=5.99s, total=5.99s, count=1, min=5988.1ms, max=5988.1ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2750.0ms, max=2750.0ms + task_sampling: mean=314.3ms, total=1.26s, count=4, min=263.0ms, max=348.5ms + task_specific_sample: mean=311.4ms, total=1.25s, count=4, min=259.3ms, max=345.8ms + scene_randomize: mean=1.0ms, total=4.2ms, count=4, min=0.9ms, max=1.6ms + mj_forward_sync: mean=322.6us, total=1.3ms, count=4, min=0.3ms, max=0.4ms + policy_setup: mean=13.4us, 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 14:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144552m [env.py: 870] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41453654 -1.0984632 -0.14455162] yaw=-62.3deg [env.py: 1019] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66519009 -0.80458361 -0.14455162] yaw=-66.9deg [env.py: 1019] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.0ms, total=158.1ms [env.py: 1075] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -1.098, -0.145) [env.py: 1079] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:12 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:06:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.091s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:15 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.664[m] 73.537[deg] [grasp_sample.py: 596] +05/18 14:06:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:06:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:06:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:15 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 14:06:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:06:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:15 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:07:27 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:07:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:07:27 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/18 14:07:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:07:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:07:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.70s (batch: 2.63s, save: 6.08s) [pipeline.py: 300] +05/18 14:07:37 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.35s: + episode_total: mean=84.76s, total=84.76s, count=1, min=84755.4ms, max=84755.4ms + sensor_polling: mean=199.5ms, total=54.46s, count=273, min=185.6ms, max=331.2ms + save_trajectories: mean=6.08s, total=6.08s, count=1, min=6075.4ms, max=6075.4ms + physics_step: mean=14.2ms, total=3.87s, count=273, min=10.6ms, max=17.8ms + save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2628.2ms, max=2628.2ms + task_sampling: mean=350.6ms, total=350.6ms, count=1, min=350.6ms, max=350.6ms + task_specific_sample: mean=347.7ms, total=347.7ms, count=1, min=347.7ms, max=347.7ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=356.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, 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 14:07:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142706m [env.py: 870] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.64257038 -0.77102534 -0.14270631] yaw=-89.5deg [env.py: 1019] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05131219 -1.34144487 -0.14270631] yaw=-9.3deg [env.py: 1019] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31773431 -0.83264117 -0.14270631] yaw=-26.8deg [env.py: 1019] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.9ms, total=118.9ms [env.py: 1075] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.643, -0.771, -0.143) [env.py: 1079] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.5 deg [env.py: 1082] +05/18 14:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:38 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.931s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:41 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.848[m] 62.449[deg] [grasp_sample.py: 596] +05/18 14:07:41 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154153m [env.py: 870] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8857921 -0.89803957 -0.15415322] yaw=-108.8deg [env.py: 1019] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.9ms, total=149.9ms [env.py: 1075] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.886, -0.898, -0.154) [env.py: 1079] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.8 deg [env.py: 1082] +05/18 14:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:43 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.927s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.543[m] 101.875[deg] [grasp_sample.py: 596] +05/18 14:07:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:07:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:07:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:08:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:39 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:08:51 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:08:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:08:51 INFO: [Worker 0] Preparing episode data: 250 timesteps [save_utils.py: 278] +05/18 14:08:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:08:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:08:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.28s (batch: 2.51s, save: 5.76s) [pipeline.py: 300] +05/18 14:08:59 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.64s: + episode_total: mean=39.85s, total=79.70s, count=2, min=3131.8ms, max=76565.8ms + sensor_polling: mean=198.5ms, total=49.42s, count=249, min=184.4ms, max=359.6ms + save_trajectories: mean=5.76s, total=5.76s, count=1, min=5764.6ms, max=5764.6ms + physics_step: mean=13.7ms, total=3.41s, count=249, min=10.7ms, max=19.4ms + save_batch_prep: mean=2.51s, total=2.51s, count=1, min=2512.7ms, max=2512.7ms + task_sampling: mean=317.8ms, total=635.6ms, count=2, min=311.6ms, max=324.0ms + task_specific_sample: mean=315.2ms, total=630.4ms, count=2, min=308.8ms, max=321.6ms + scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=0.8ms, max=1.7ms + mj_forward_sync: mean=333.3us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=16.6us, 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 14:09:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:09:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134013m [env.py: 870] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47260656 -0.80064117 -0.13401251] yaw=-90.8deg [env.py: 1019] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.8ms [env.py: 1075] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -0.801, -0.134) [env.py: 1079] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.8 deg [env.py: 1082] +05/18 14:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:01 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:09:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.947s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:09:03 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:09:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188726m [env.py: 870] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16556065 -0.98959252 -0.18872589] yaw=-33.0deg [env.py: 1019] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10620189 -1.06458086 -0.18872589] yaw=-49.3deg [env.py: 1019] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55979714 -0.86876409 -0.18872589] yaw=-40.0deg [env.py: 1019] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms [env.py: 1075] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -0.990, -0.189) [env.py: 1079] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg [env.py: 1082] +05/18 14:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:05 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:09:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.874s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:09:07 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:09:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:09:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189335m [env.py: 870] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27667269 -1.27953035 -0.18933546] yaw=-21.1deg [env.py: 1019] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms [env.py: 1075] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.280, -0.189) [env.py: 1079] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.1 deg [env.py: 1082] +05/18 14:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:09 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:09:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.639s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:09:14 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.550[m] 72.910[deg] [grasp_sample.py: 596] +05/18 14:09:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:09:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:09:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:14 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 14:09:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:09:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:06 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:10:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:10:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:10:17 INFO: [Worker 0] Preparing episode data: 245 timesteps [save_utils.py: 278] +05/18 14:10:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:10:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:10:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 7.89s (batch: 2.33s, save: 5.56s) [pipeline.py: 300] +05/18 14:10:25 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.97s: + episode_total: mean=27.04s, total=81.12s, count=3, min=2291.9ms, max=76409.7ms + sensor_polling: mean=193.2ms, total=47.15s, count=244, min=182.8ms, max=381.6ms + save_trajectories: mean=5.56s, total=5.56s, count=1, min=5560.6ms, max=5560.6ms + physics_step: mean=13.6ms, total=3.31s, count=244, min=10.7ms, max=15.4ms + save_batch_prep: mean=2.33s, total=2.33s, count=1, min=2334.3ms, max=2334.3ms + task_sampling: mean=322.7ms, total=968.0ms, count=3, min=305.9ms, max=341.2ms + task_specific_sample: mean=320.4ms, total=961.2ms, count=3, min=303.7ms, max=338.6ms + scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=0.7ms, max=1.5ms + mj_forward_sync: mean=319.3us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:10:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162970m [env.py: 870] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=151.2ms, total=151.2ms [env.py: 1105] +05/18 14:10:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:10:26 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122574m [env.py: 870] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12048168 -1.10020198 -0.12257406] yaw=-37.0deg [env.py: 1019] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.66866953 -0.84113974 -0.12257406] yaw=-76.6deg [env.py: 1019] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17677035 -1.16301975 -0.12257406] yaw=-16.7deg [env.py: 1019] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.1ms, total=109.1ms [env.py: 1075] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.100, -0.123) [env.py: 1079] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg [env.py: 1082] +05/18 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:28 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.861s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:10:30 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:10:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194215m [env.py: 870] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09820151 -1.26346164 -0.19421509] yaw=-11.2deg [env.py: 1019] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41587528 -0.80500029 -0.19421509] yaw=-62.5deg [env.py: 1019] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.65254755 -0.70050424 -0.19421509] yaw=-87.9deg [env.py: 1019] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.7ms, total=122.7ms [env.py: 1075] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.263, -0.194) [env.py: 1079] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.2 deg [env.py: 1082] +05/18 14:10:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:32 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.990s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:10:37 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193441m [env.py: 870] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.273866 -0.90104875 -0.19344129] yaw=-74.1deg [env.py: 1019] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6834591 -0.90566158 -0.19344129] yaw=-51.1deg [env.py: 1019] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58547266 -0.74332294 -0.19344129] yaw=-68.0deg [env.py: 1019] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms [env.py: 1075] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -0.901, -0.193) [env.py: 1079] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.1 deg [env.py: 1082] +05/18 14:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:39 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.884s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:10:41 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:10:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163332m [env.py: 870] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.79212246 -0.86501185 -0.16333221] yaw=-104.3deg [env.py: 1019] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.1ms, total=144.2ms [env.py: 1075] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.792, -0.865, -0.163) [env.py: 1079] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.3 deg [env.py: 1082] +05/18 14:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:42 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.352s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:47 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.669[m] 79.445[deg] [grasp_sample.py: 596] +05/18 14:10:48 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:10:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158091m [env.py: 870] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52399146 -1.01272616 -0.15809114] yaw=-56.4deg [env.py: 1019] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.85503028 -0.90070974 -0.15809114] yaw=-61.3deg [env.py: 1019] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8493707 -0.79947323 -0.15809114] yaw=-75.9deg [env.py: 1019] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.0ms, total=71.0ms [env.py: 1075] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.524, -1.013, -0.158) [env.py: 1079] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/18 14:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:49 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.944s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:50 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.613[m] 74.996[deg] [grasp_sample.py: 596] +05/18 14:10:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:11:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:11:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.125s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:04 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.502[m] 59.933[deg] [grasp_sample.py: 596] +05/18 14:11:05 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158854m [env.py: 870] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71433869 -0.65965517 -0.15885369] yaw=-79.7deg [env.py: 1019] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60136995 -0.79483197 -0.15885369] yaw=-74.9deg [env.py: 1019] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.9ms, total=145.9ms [env.py: 1075] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.714, -0.660, -0.159) [env.py: 1079] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.7 deg [env.py: 1082] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:06 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.825s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:08 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182760m [env.py: 870] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11573841 -1.26098312 -0.18275966] yaw=-38.5deg [env.py: 1019] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05316082 -1.35634607 -0.18275966] yaw=-12.2deg [env.py: 1019] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.0ms, total=146.0ms [env.py: 1075] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -1.261, -0.183) [env.py: 1079] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg [env.py: 1082] +05/18 14:11:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:10 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.543s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.725[m] 108.630[deg] [grasp_sample.py: 596] +05/18 14:11:15 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187993m [env.py: 870] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 180.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20631616 -1.25053487 -0.18799317] yaw=-4.9deg [env.py: 1019] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64859646 -0.72945287 -0.18799317] yaw=-74.3deg [env.py: 1019] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34888227 -0.99678691 -0.18799317] yaw=-66.9deg [env.py: 1019] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.2ms, total=177.2ms [env.py: 1075] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.251, -0.188) [env.py: 1079] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.9 deg [env.py: 1082] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:17 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.126s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:19 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.609[m] 75.870[deg] [grasp_sample.py: 596] +05/18 14:11:20 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163018m [env.py: 870] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10598523 -1.20799285 -0.1630176 ] yaw=-59.5deg [env.py: 1019] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90417297 -0.87473509 -0.1630176 ] yaw=-58.6deg [env.py: 1019] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.7477373 -0.76636537 -0.1630176 ] yaw=-94.4deg [env.py: 1019] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.4ms [env.py: 1075] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -1.208, -0.163) [env.py: 1079] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/18 14:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:22 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.892s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:24 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199664m [env.py: 870] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43614984 -1.08094779 -0.19966366] yaw=-50.5deg [env.py: 1019] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms [env.py: 1075] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -1.081, -0.200) [env.py: 1079] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:26 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.773s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:27 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.563[m] 68.841[deg] [grasp_sample.py: 596] +05/18 14:11:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:27 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 14:11:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:11:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:21 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:12:33 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:12:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:12:33 INFO: [Worker 0] Preparing episode data: 247 timesteps [save_utils.py: 278] +05/18 14:12:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:12:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:12:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.18s (batch: 2.48s, save: 5.70s) [pipeline.py: 300] +05/18 14:12:41 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=3.08s: + episode_total: mean=10.99s, total=120.90s, count=11, min=159.7ms, max=75878.5ms + sensor_polling: mean=194.2ms, total=53.80s, count=277, min=179.5ms, max=329.6ms + save_trajectories: mean=5.70s, total=5.70s, count=1, min=5701.6ms, max=5701.6ms + physics_step: mean=13.7ms, total=3.81s, count=277, min=10.6ms, max=16.5ms + task_specific_sample: mean=292.2ms, total=3.21s, count=11, min=155.5ms, max=403.3ms + task_sampling: mean=308.0ms, total=3.08s, count=10, min=243.2ms, max=405.9ms + save_batch_prep: mean=2.48s, total=2.48s, count=1, min=2478.6ms, max=2478.6ms + task_sampling_failed: mean=159.7ms, total=159.7ms, count=1, min=159.7ms, max=159.7ms + scene_randomize: mean=915.8us, total=10.1ms, count=11, min=0.7ms, max=1.6ms + mj_forward_sync: mean=310.7us, total=3.4ms, count=11, min=0.3ms, max=0.3ms + policy_setup: mean=12.7us, total=0.1ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167064m [env.py: 870] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=147.6ms, total=147.6ms [env.py: 1105] +05/18 14:12:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:12:43 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156011m [env.py: 870] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06365205 -1.36856778 -0.15601116] yaw=-15.8deg [env.py: 1019] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09472045 -1.22881289 -0.15601116] yaw=-31.9deg [env.py: 1019] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.6ms, total=145.6ms [env.py: 1075] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.064, -1.369, -0.156) [env.py: 1079] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.8 deg [env.py: 1082] +05/18 14:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:44 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.877s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:12:46 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188499m [env.py: 870] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40912482 -0.95751591 -0.18849949] yaw=-76.2deg [env.py: 1019] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00517842 -1.24807942 -0.18849949] yaw=-12.5deg [env.py: 1019] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.0ms, total=155.0ms [env.py: 1075] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.958, -0.188) [env.py: 1079] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg [env.py: 1082] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:48 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.907s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:49 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.615[m] 100.471[deg] [grasp_sample.py: 596] +05/18 14:12:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:12:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:12:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:50 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 14:13:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:13:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:46 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:13:58 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:13:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:13:58 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/18 14:14:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:14:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:14:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.18s (batch: 2.50s, save: 5.68s) [pipeline.py: 300] +05/18 14:14:07 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.67s: + episode_total: mean=27.19s, total=81.56s, count=3, min=155.3ms, max=79058.3ms + sensor_polling: mean=198.1ms, total=51.11s, count=258, min=186.8ms, max=318.8ms + save_trajectories: mean=5.68s, total=5.68s, count=1, min=5677.0ms, max=5677.0ms + physics_step: mean=13.9ms, total=3.59s, count=258, min=11.0ms, max=16.8ms + save_batch_prep: mean=2.50s, total=2.50s, count=1, min=2499.6ms, max=2499.6ms + task_specific_sample: mean=272.8ms, total=818.5ms, count=3, min=151.9ms, max=334.3ms + task_sampling: mean=335.5ms, total=671.0ms, count=2, min=334.2ms, max=336.9ms + task_sampling_failed: mean=155.3ms, total=155.3ms, count=1, min=155.3ms, max=155.3ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.8ms, max=1.6ms + mj_forward_sync: mean=320.2us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=13.4us, 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 14:14:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182179m [env.py: 870] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20320895 -1.24037077 -0.18217926] yaw=-19.3deg [env.py: 1019] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.6ms, total=148.6ms [env.py: 1075] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -1.240, -0.182) [env.py: 1079] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.3 deg [env.py: 1082] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:09 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.868s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:11 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.772[m] 63.546[deg] [grasp_sample.py: 596] +05/18 14:14:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:14:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:14:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:14:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 92 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:58 INFO: [Worker 0] Feasibility-checked 92 grasps in 0.306s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:58 INFO: [Worker 0] Feasible grasp found 303 (originally 303): w/ 0.024[m] 2.073[deg] [grasp_sample.py: 596] +05/18 14:14:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:15:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:15 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:15:28 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:15:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:15:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:15:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:15:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:15:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.57s (batch: 2.64s, save: 6.92s) [pipeline.py: 300] +05/18 14:15:38 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.34s: + episode_total: mean=90.02s, total=90.02s, count=1, min=90021.4ms, max=90021.4ms + sensor_polling: mean=194.4ms, total=58.33s, count=300, min=182.8ms, max=321.2ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6920.2ms, max=6920.2ms + physics_step: mean=13.6ms, total=4.08s, count=300, min=10.9ms, max=33.2ms + save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2644.9ms, max=2644.9ms + task_sampling: mean=338.5ms, total=338.5ms, count=1, min=338.5ms, max=338.5ms + task_specific_sample: mean=335.9ms, total=335.9ms, count=1, min=335.9ms, max=335.9ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=315.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:15:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130551m [env.py: 870] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43716581 -1.01284071 -0.13055121] yaw=-52.8deg [env.py: 1019] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64442365 -0.82862263 -0.13055121] yaw=-63.4deg [env.py: 1019] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.7ms, total=153.7ms [env.py: 1075] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -1.013, -0.131) [env.py: 1079] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/18 14:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:40 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.746s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:43 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.604[m] 89.393[deg] [grasp_sample.py: 596] +05/18 14:15:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:16:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:43 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:16:55 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:16:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:16:55 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/18 14:17:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:17:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:17:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 8.66s (batch: 2.58s, save: 6.08s) [pipeline.py: 300] +05/18 14:17:04 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.34s: + episode_total: mean=84.08s, total=84.08s, count=1, min=84076.2ms, max=84076.2ms + sensor_polling: mean=194.3ms, total=50.13s, count=258, min=180.4ms, max=299.3ms + save_trajectories: mean=6.08s, total=6.08s, count=1, min=6081.2ms, max=6081.2ms + physics_step: mean=13.6ms, total=3.51s, count=258, min=10.6ms, max=16.8ms + save_batch_prep: mean=2.58s, total=2.58s, count=1, min=2581.8ms, max=2581.8ms + task_sampling: mean=343.7ms, total=343.7ms, count=1, min=343.7ms, max=343.7ms + task_specific_sample: mean=340.9ms, total=340.9ms, count=1, min=340.9ms, max=340.9ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=355.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, 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 14:17:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102376m [env.py: 870] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49995328 -1.05785088 -0.10237599] yaw=-83.2deg [env.py: 1019] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07120966 -1.41038815 -0.10237599] yaw=-36.7deg [env.py: 1019] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34801183 -0.81143023 -0.10237599] yaw=-62.4deg [env.py: 1019] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.0ms, total=161.0ms [env.py: 1075] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -1.058, -0.102) [env.py: 1079] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.2 deg [env.py: 1082] +05/18 14:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:05 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:17:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.453s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:18 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.569[m] 118.126[deg] [grasp_sample.py: 596] +05/18 14:17:19 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:17:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194142m [env.py: 870] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.82263878 -0.80423117 -0.1941421 ] yaw=-67.9deg [env.py: 1019] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.89590114 -0.87523721 -0.1941421 ] yaw=-66.8deg [env.py: 1019] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.8ms [env.py: 1075] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.823, -0.804, -0.194) [env.py: 1079] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/18 14:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:21 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:17:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.748s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.678[m] 95.347[deg] [grasp_sample.py: 596] +05/18 14:17:26 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:17:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163738m [env.py: 870] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14229904 -1.00945937 -0.16373778] yaw=-64.6deg [env.py: 1019] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=143.1ms, total=143.1ms [env.py: 1075] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.142, -1.009, -0.164) [env.py: 1079] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/18 14:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:28 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:17:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.937s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:17:30 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141254m [env.py: 870] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.7ms, total=143.7ms [env.py: 1105] +05/18 14:17:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:17:32 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:17:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183903m [env.py: 870] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28803562 -1.2808886 -0.18390348] yaw=-7.8deg [env.py: 1019] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.9ms, total=146.9ms [env.py: 1075] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.281, -0.184) [env.py: 1079] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.8 deg [env.py: 1082] +05/18 14:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:33 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:17:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.652s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.695[m] 75.665[deg] [grasp_sample.py: 596] +05/18 14:17:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:35 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 14:18:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:18:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:18:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:18:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:18:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:18:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 81 non-colliding grasps [grasp_sample.py: 520] +05/18 14:18:31 INFO: [Worker 0] Feasibility-checked 81 grasps in 0.393s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:18:31 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.032[m] 5.133[deg] [grasp_sample.py: 596] +05/18 14:18:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:18:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:18:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:18:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:40 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:18:54 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/dresser/sim_chunks/chunk_038 [pipeline.py: 1174] +05/18 14:18:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_038 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:18:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:19:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:19:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_038 [save_utils.py: 785] +05/18 14:19:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_038 in 9.60s (batch: 2.68s, save: 6.92s) [pipeline.py: 300] +05/18 14:19:04 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=1.32s: + episode_total: mean=22.62s, total=113.08s, count=5, min=150.9ms, max=90947.5ms + sensor_polling: mean=199.7ms, total=59.91s, count=300, min=182.3ms, max=310.6ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6922.3ms, max=6922.3ms + physics_step: mean=13.9ms, total=4.17s, count=300, min=10.7ms, max=30.1ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2680.9ms, max=2680.9ms + task_specific_sample: mean=292.1ms, total=1.46s, count=5, min=147.9ms, max=356.9ms + task_sampling: mean=330.4ms, total=1.32s, count=4, min=315.1ms, max=359.6ms + task_sampling_failed: mean=150.9ms, total=150.9ms, count=1, min=150.9ms, max=150.9ms + scene_randomize: mean=999.5us, total=5.0ms, count=5, min=0.8ms, max=1.5ms + mj_forward_sync: mean=326.1us, total=1.6ms, count=5, min=0.3ms, max=0.4ms + policy_setup: mean=15.1us, total=0.1ms, count=4, 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 14:19:05 WARNING: [Worker 0] No trajectory data to save for chunk_038 [pipeline.py: 234] +05/18 14:19:05 WARNING: [Worker 0] No trajectory data to save for chunk_038 [pipeline.py: 234] +05/18 14:19:05 INFO: [Worker 0] Worker 0 completed house 1: 18/20 successful episodes [pipeline.py: 1323] +05/18 14:19:05 INFO: [Worker 0] [PROFILE] House 1 complete: 18/20 successful, 20 episodes, total_time=3474.42s + House averages: + episode_total: mean=29.12s, total=2096.50s, count=72, min=149.1ms, max=207045.1ms + sensor_polling: mean=195.1ms, total=1087.59s, count=5574, min=171.8ms, max=381.6ms + save_trajectories: mean=6.28s, total=113.06s, count=18, min=5560.6ms, max=7198.0ms + physics_step: mean=13.6ms, total=76.06s, count=5574, min=9.1ms, max=33.2ms + save_batch_prep: mean=2.55s, total=45.93s, count=18, min=2334.3ms, max=2758.9ms + task_sampling: mean=380.5ms, total=23.59s, count=62, min=243.2ms, max=4042.5ms + task_specific_sample: mean=295.4ms, total=21.27s, count=72, min=145.0ms, max=443.6ms + scene_load: mean=3.67s, total=3.67s, count=1, min=3674.1ms, max=3674.1ms + scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.1ms, max=2202.1ms + task_sampling_failed: mean=153.3ms, total=1.53s, count=10, min=149.1ms, max=159.7ms + scene_compile: mean=1.29s, total=1.29s, count=1, min=1288.7ms, max=1288.7ms + compile_mujoco: mean=729.1ms, total=729.1ms, count=1, min=729.1ms, max=729.1ms + compile_xml_load: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms + scene_asset_install: mean=113.9ms, total=113.9ms, count=1, min=113.9ms, max=113.9ms + scene_randomize: mean=1.1ms, total=78.1ms, count=72, min=0.7ms, max=3.1ms + scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms + asset_install_objects: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms + asset_install_grasps: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_objects: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + compile_aux_policy_objects: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + mj_forward_sync: mean=326.4us, total=23.5ms, count=72, min=0.3ms, max=0.4ms + compile_robot_add: mean=21.5ms, total=21.5ms, count=1, min=21.5ms, max=21.5ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=14.3us, total=0.9ms, count=62, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 14:19:05 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:19:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=3474.42s + Worker averages: + episode_total: mean=29.12s, total=2096.50s, count=72, min=149.1ms, max=207045.1ms + sensor_polling: mean=195.1ms, total=1087.59s, count=5574, min=171.8ms, max=381.6ms + save_trajectories: mean=6.28s, total=113.06s, count=18, min=5560.6ms, max=7198.0ms + physics_step: mean=13.6ms, total=76.06s, count=5574, min=9.1ms, max=33.2ms + save_batch_prep: mean=2.55s, total=45.93s, count=18, min=2334.3ms, max=2758.9ms + task_sampling: mean=380.5ms, total=23.59s, count=62, min=243.2ms, max=4042.5ms + task_specific_sample: mean=295.4ms, total=21.27s, count=72, min=145.0ms, max=443.6ms + scene_load: mean=3.67s, total=3.67s, count=1, min=3674.1ms, max=3674.1ms + scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.1ms, max=2202.1ms + task_sampling_failed: mean=153.3ms, total=1.53s, count=10, min=149.1ms, max=159.7ms + scene_compile: mean=1.29s, total=1.29s, count=1, min=1288.7ms, max=1288.7ms + compile_mujoco: mean=729.1ms, total=729.1ms, count=1, min=729.1ms, max=729.1ms + compile_xml_load: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms + scene_asset_install: mean=113.9ms, total=113.9ms, count=1, min=113.9ms, max=113.9ms + scene_randomize: mean=1.1ms, total=78.1ms, count=72, min=0.7ms, max=3.1ms + scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms + asset_install_objects: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms + asset_install_grasps: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_objects: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + compile_aux_policy_objects: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms + mj_forward_sync: mean=326.4us, total=23.5ms, count=72, min=0.3ms, max=0.4ms + compile_robot_add: mean=21.5ms, total=21.5ms, count=1, min=21.5ms, max=21.5ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=14.3us, total=0.9ms, count=62, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 14:19:08 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:19:08 INFO: Success count: 18, Total count: 20 [pipeline.py: 1491] +05/18 14:19:08 INFO: Success rate: 90.00% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_038/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_038/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f896b23f3149130cf2d64776da0edfc2158ec0df --- /dev/null +++ b/dresser/sim/chunk_038/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:feeb88c4f6cc2f6b7a8556e5df079a9db42b26c4f1a4d03f9af67a04e1eaed5e +size 1265123724