diff --git a/dresser/sim/chunk_056/chunk_log.txt b/dresser/sim/chunk_056/chunk_log.txt new file mode 100644 index 0000000000000000000000000000000000000000..3357aeb60cf55845e52ecb9d0ea1bbdd3dbc772d --- /dev/null +++ b/dresser/sim/chunk_056/chunk_log.txt @@ -0,0 +1,5 @@ +chunk_pad: 056 +node: pasteur1 +salvaged: 2026-05-18T15:20:01-07:00 +ntraj: 16 +note: rescued after stale-FD bash failure; sim data intact on /scr. diff --git a/dresser/sim/chunk_056/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..590b45d2fbe1fcf3c5753109afe2bd93ae99e471 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df37b9ddea14a0d76aba0b3a4a878447c6e6db7cf40d1aa92d2d094ba909062e +size 604759 diff --git a/dresser/sim/chunk_056/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c0dafddb1cc8138b5b0877b04e485b0401ea5321 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1823bf431ed08ce1e24b993102ee965372f835e7d3332b4e02be18be4884a48f +size 525946 diff --git a/dresser/sim/chunk_056/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d1f2f69a7bc881b6c930c1fcf2407b1f0c31d79 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20eb91471609179c46d6ee329cb9435715bd3fd74efc4056021f818ce41e564f +size 550990 diff --git a/dresser/sim/chunk_056/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8b14ecb97193e19d36d362063e3a13a81d3bdbaa --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b5ddddbefb75484663cfd0b5887e81d1896d065ea9406f2d4f2f74e2af5d0d3 +size 613920 diff --git a/dresser/sim/chunk_056/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79e93a4532eb7b9e8d5fd4418574528f09a7ca9c --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f884655389cf79623a55702c18551d712ec697c6fa7af60467dd9910c85bd69b +size 125338 diff --git a/dresser/sim/chunk_056/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dc0a674bb95b386e970c75e574fae76d9d78ac1d --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f31807dd819bb89df3d41c625aad64b0311bd4f5bb35f891cff9314bd1780e5 +size 647200 diff --git a/dresser/sim/chunk_056/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ba448b5bcad8c1b5e8eb614b0b5592641ddf0aad --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b63e4a53db8aafd01754cfd6e6abe96db875b5ef367d5d4140f30440abece4a5 +size 531836 diff --git a/dresser/sim/chunk_056/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..70cffffea4fa9fb128dd0e4db419d030d1cf1c38 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c3df5d87da44e662a87d35e981d1bed908225331ac820146942a3a6d4a524f7 +size 476548 diff --git a/dresser/sim/chunk_056/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bd7464b2ce9c9e24c181f72635e4361939d86fb6 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fce52017cb8f35e35f87b16f7d5dcba91478ed0f7c90981b81460ccec2c602e1 +size 550107 diff --git a/dresser/sim/chunk_056/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75e74a00a18aad6b1b9eda3e3a241059a6dbb7c7 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9829be62fc01858b0ee1f5051e3f60db7089d948babebbd258f4e70f7fc8a4e4 +size 630781 diff --git a/dresser/sim/chunk_056/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6c5e710136445d0efcfbe27346eaa4e9c984c11b --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ec987617820696a2ec79e962313b678132a775856aba4ea58a7a0e4234fc9ae +size 96757 diff --git a/dresser/sim/chunk_056/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f8524a8430d0d89d6e74144f1dae3bee4fa542e --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7d1ce5061bdaa792766b7dd70f6ceb6eec7e73898c26abae16936b0aed3b7f2 +size 492454 diff --git a/dresser/sim/chunk_056/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3c8f9b231c558b382af94512763f10784b775b4f --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:075feda02456e0ec00db34ddb96f46a6a654f179e76028452f249facace8857f +size 497255 diff --git a/dresser/sim/chunk_056/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..73229e1aaec062d7c8ccfa80ebe5f1338b66c81b --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72fb71122b3b8ccdf65d46d26248eda080222bb3da34034088161c4794a3ebd1 +size 432863 diff --git a/dresser/sim/chunk_056/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a25492c0c08d91a1ba0a037ff136cc6117ee74ee --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0deae46b53a3e68f2271c3f0aef215f81e1e4f34f09c7284494bb77ad0a172d8 +size 564458 diff --git a/dresser/sim/chunk_056/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b14e08e66c104fe7dfc1db97d11377771232818f --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70bc80a99ad5918a0d277732a90401ffaa21cf245d3beb256eaec2f1a353b880 +size 696070 diff --git a/dresser/sim/chunk_056/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c460f8268a3348f9c288ca8f5f5dc6e8868bacfa --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eafa8617cd6cf9f9164d68158fb65584be3466fbfd755ad4939e1875b2efd0d +size 149132 diff --git a/dresser/sim/chunk_056/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d33592c8c241877d0062bd9b7dc14a46a894ebbb --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ff82897e81281efdc759e4a5758b0da48fea199abafd45b4d09724d9b6b5177 +size 565893 diff --git a/dresser/sim/chunk_056/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6fa87428e939c5146de51770ee168a9fe29451ac --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57c021e462d148d3e1cbed340b4caf05f6e23e19b718ecdca592c46b857a42ea +size 654653 diff --git a/dresser/sim/chunk_056/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a23dbb774237fc8b518a7ab16df8761fdb040901 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30e60b9bf8893c2fa67dc99c0a08acb5cdd38b04266316f90be9c6d7c1b4739e +size 548128 diff --git a/dresser/sim/chunk_056/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c80a8aff5f418050a18ddc790c88da2375b4bdcd --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a5a80bb7b87a25495304895ef70ee727e70604d74acad9f12b875f308e5bb6f +size 586020 diff --git a/dresser/sim/chunk_056/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7b2a577378fdf5ceda3e5f4c417984f71ac05ae --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e05ce9da6aa18b7915e97f1cb9d1f981c357a38dfc80db77731adc446b66fbd0 +size 780944 diff --git a/dresser/sim/chunk_056/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..92f8b96bbd01b534a3018c34f59231c10fd314e6 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca1cc7a2376ce9501c1988c33ea100b40194c743e371b59bc53902a8e95bca1b +size 107238 diff --git a/dresser/sim/chunk_056/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9103b87b4212525a28b7a3823e866f0f0864fed3 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf404a071a5fd07e69e57fa62a484359a208848c32ca1a2d7c0769c23afb137 +size 623109 diff --git a/dresser/sim/chunk_056/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c13e2d84f48a89388a6ecbfb69e59c98569ba995 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:402b123360c16264bf7c7c6550c5c90e1abe0a071a53c3a0d7028c7060e352e0 +size 833933 diff --git a/dresser/sim/chunk_056/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..331452ac6c6010d16d9b69c5871967801ba32ecb --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25c638f595e171220a385191cd706ac16a354ef6bf26e270cf2f27dd50e0cfee +size 709491 diff --git a/dresser/sim/chunk_056/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e5d7019135ad0d2bf245d541c1b70cee44c5ab55 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8bb15e6618f27409d103ba0f455bd226c3481728618e989437b4228cd480918 +size 722482 diff --git a/dresser/sim/chunk_056/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b2fa007d75ea3d7c0a001334f04cecaa1437762 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f2df0584e6b6c9072aca80eb47b41a4c02ea5cee71214abc88e4d13aaa98310 +size 571129 diff --git a/dresser/sim/chunk_056/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae13b91546e6804ea43e50c56729b4a55add10e9 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1882b7656ed9075106cedde4da31e8661d32db701f88360885955d1c5aa4a391 +size 104919 diff --git a/dresser/sim/chunk_056/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d112fb83841c12fc177a1d6a513de82f9abee00e --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e72e0a3a0f663926251382345a3299c5a1ef40b1bb2bf577dddf5b2ee68cb39 +size 608912 diff --git a/dresser/sim/chunk_056/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fabac041a43d355fd86a1d3c0a6abb385a925505 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca5706141bc4a104b4dc67a5b6434033c40e8f9042d578f3b115efd89ba16952 +size 666973 diff --git a/dresser/sim/chunk_056/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74072464bcebfa2ab64410ba61bc4bc4018158da --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d565a06359cde652d45cee63b4a6a77b4490930d3213ce17d3395dfcc78c9f8 +size 561913 diff --git a/dresser/sim/chunk_056/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5247e82d05e069bb591132ba943c14705fd40e63 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01d1837dc8bf0352d1f9cd36b78735ea0e5b9f3525fb2963a991070aa93df6c8 +size 692386 diff --git a/dresser/sim/chunk_056/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a475494479895f62ad9f7f2489b0f32a5f1ae8c --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65d9e770d2459de78d0a96f1b76e6b506cbb998746c9c3763e43773b52db2e60 +size 973259 diff --git a/dresser/sim/chunk_056/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..db7019b914fe37c064b749ecf4a7b8520a5f3d29 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8b3d1fb997a1ac7ae107c5de921b6f240d8c5a0b5d093a50f28cf8a7c69651 +size 132172 diff --git a/dresser/sim/chunk_056/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4664ec7c770460adeda746cd3183cb1e1f627b06 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6749c3dafda7a0a8b56ca6cbf9c9a62f9a08e7d9036568a89b0dcda9fefd390d +size 705664 diff --git a/dresser/sim/chunk_056/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bb70303f54d8b59f6bd02df1bfe6ced794ecf6c7 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b577aa551a5d76d9ce31c2361b4adb426e1bdde99ae6ed17804fcadafb0b3aef +size 408124 diff --git a/dresser/sim/chunk_056/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be45ee7df3d5cafb5ace5a7ae70c4841d574892d --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:633be2408fce4a492b163596c73c42e94207d99929067d670712382549c0bc8b +size 349555 diff --git a/dresser/sim/chunk_056/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6509c9535770162830b857327a6db045629973b8 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b83d220a0641aa175eea72cbdbc6bb5748126a4f27c38bc9ec1bc88f5b2fa670 +size 529961 diff --git a/dresser/sim/chunk_056/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9aab735843d0e7c90f31f2c4036cb12a228e31be --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b44600bd17d0e7496765b08caa963f163a46b6ba2f507f2c725db60e7b4faccb +size 916438 diff --git a/dresser/sim/chunk_056/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8fb068f1866d7e00f7a46a04df036dd6b39d0c78 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd36673bca921d5818dd6e5ef8a77ee72aa71e9ce5bb1540acaf943823ea984e +size 294041 diff --git a/dresser/sim/chunk_056/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66b8414ef3f2b7597853f189ca8c608e6265d15b --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0499371ff0e4ab1e79505e75cc3d145927d8ba772476abb4577d49e0ac6f54e +size 893828 diff --git a/dresser/sim/chunk_056/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ec31a3b0ec57c89153c4c9d41dca19edcc8b51d --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c16c5d02b8dd48eac74b465459d7e438edba04e74ae75591201a491c5b766a7a +size 532373 diff --git a/dresser/sim/chunk_056/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f90026329f6937a42267dd3f0725459c876b48a5 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f020dc0e02ab2737afc9c7bac102a4ca51e96d556c4940ad47085674340b92f3 +size 437008 diff --git a/dresser/sim/chunk_056/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..36ca14d6ba15e381db9399fc09560d79c9218d84 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ce77c108a52ff44dffe18694e26dcd5665b918af145b98632302b8cf14eb433 +size 573442 diff --git a/dresser/sim/chunk_056/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efff657ddeab0c22013081e7c805ad1f78ee514f --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:545c6592ea66ef9dc011bb431aa6aab799fc52f9a0448896c043d01bea5d1def +size 1063691 diff --git a/dresser/sim/chunk_056/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..639eeb54ae0184edd7ea1d2ae7d05542bcb73601 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e052c36fe1ed1d818c4917ef630246a4f62a7698bf7f746b0c9751d8a0e5ff9b +size 158515 diff --git a/dresser/sim/chunk_056/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..911ad24338d4778de3f7d2240074a70b74abb598 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16243dfec141e2519d2b8eb35e3da101aed8c10dfd07597b657b9023bb84a7d1 +size 791191 diff --git a/dresser/sim/chunk_056/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6901fe8cdf734f64985efd0aef9eabbf8dcbd1fa --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c791319437eefad09c97902081ef361bdf8fe8b8624bea57aff6eedff14f2cf7 +size 508512 diff --git a/dresser/sim/chunk_056/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1138019b5a32df91c89f75b713054ac4a2da8dd8 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84e6fcf81f6e02d659d6e323531ee1f8b59fd0edb8b2a3cf7c7c18cb99ff8918 +size 445227 diff --git a/dresser/sim/chunk_056/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b85bda99d9cdad8bfd83303dd8878390f7dc09f6 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae39b86c6ec337974f95d585027f619684daea1fce505b8920611ef7d0882e5b +size 517531 diff --git a/dresser/sim/chunk_056/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..273cc284b7beecfb7ef929cd7c29a6d701e58e42 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e6f4edf2ccb47890da43515a1d88ac7476142b8c4bd6ec94ab0acd2b97f80ef +size 885782 diff --git a/dresser/sim/chunk_056/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..443c94f3f069c9017b69527bf90a3d004e97a9aa --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6172c40a7060cc1f9a904f5ed4a0397476bb5c3198e4f624a3e011cbcc3a947d +size 130605 diff --git a/dresser/sim/chunk_056/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5998fbdb097bea4c8cf303a3da3a40034f232005 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0920f765a4bdb2fe1bb12afb9171427f80f9e26bf6ec9eb41cfc43ed89a8f371 +size 633650 diff --git a/dresser/sim/chunk_056/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d33ec9c5e2042651467fce75be184eeb85bcf8ee --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d69f481716f2b7005aceb1a9fb34929ec932f6cb4af18db34ae1da9ac2e12dc +size 585413 diff --git a/dresser/sim/chunk_056/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..af44844e8e194221aed22efdefe35dd2d5fd689d --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8d4ee605ee14dd36e1bd1b8a36678e3e68b0c86942235037ee30dce91ebbff6 +size 521705 diff --git a/dresser/sim/chunk_056/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b5beb8863bbce9f69a5aaf8a7558c947caa9ff9 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:095bf4a8edb774564931815db8978198955e7933a26163fcf4fcaf3a4e912bb9 +size 667727 diff --git a/dresser/sim/chunk_056/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f4ad158dba411a3660252803b7df4070569bfbf --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bc449ae7b2b8f80427fe3442f6bbdaecebf9aa25489a16714eba5d21ea933cc +size 1191974 diff --git a/dresser/sim/chunk_056/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69b361f339c4720b3cc95b2096da410165503cfc --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e71f7d15fd21f4e7cf9aca4fe0ed1dc0ba29206bb84b36ff44fc9708d7756d6 +size 179787 diff --git a/dresser/sim/chunk_056/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..255fbf00dc1e39897accdb22fd8c223fd28cc598 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf74bc2d740673c6737c2e04ca0b2a0347c39788f2b4958c6536dc60f398295b +size 716539 diff --git a/dresser/sim/chunk_056/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef1edfa042b87514322797e79eeb5e6fcdb87619 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b97e2dcd8a7d0996004fd5fc2ff7884a3bccac1d035867408d50581b55b650da +size 493408 diff --git a/dresser/sim/chunk_056/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcbf765173021fe9149d6b59e7ef06e773a44358 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e7ff1e86d5a81044a58848d0582405efd0eb5ab40539aececae108b1cbd2a3 +size 417776 diff --git a/dresser/sim/chunk_056/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a962780e96ad010d85096a22b449ab2b6b6aeac --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52ce6005e32097083768557ddaebc92161ab583c3db4d78ee036e255cea58b10 +size 547241 diff --git a/dresser/sim/chunk_056/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7cdb4d7b37d5332595609327f858c99f4758a33 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9413eadefd06ec879f9435015e88de61469a554e74ccca431f1edfca1ef2ddf2 +size 687686 diff --git a/dresser/sim/chunk_056/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c884569d2caa9ec6ca4fb519a119e21ba45e5080 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f7b97f5d72053a7d022fb3f5c21775f93940b00b875e912db042ffe69b42ae5 +size 125800 diff --git a/dresser/sim/chunk_056/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..783f47c43a6ae1a54695f15a9ea3f1e12f4f3054 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:212e549749fb6b6bfc64bdf029fb6cb23316b07500f06f1e3a696a80f7cb3383 +size 728416 diff --git a/dresser/sim/chunk_056/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54b7efe55433344dc7d579f8910c231120d0c0d3 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d310486204431bd49183842c5911890127afe42138cfe5d8c6780f95b98a09ca +size 513047 diff --git a/dresser/sim/chunk_056/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c1da26e9db8bd91d0a5de34bbeac773a0484f47 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb18147e0a5385f4226e338df4cfc25dcfe0d6e49d368daee4f90d8e60d91029 +size 433223 diff --git a/dresser/sim/chunk_056/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3b525fb02a0f8c90a6f3718550922969bfe2e203 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c28111d1813c1b5322594928333cb4095a4847bb010c32ed225ebee1980ee404 +size 596596 diff --git a/dresser/sim/chunk_056/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e512d3c7c9541ae9826b73d6a8ce01d2f31d3cb --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05d8375126eae7912f5ea334fe9000567659cb711e1222f256b1febae765d69d +size 1386709 diff --git a/dresser/sim/chunk_056/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1167342bde4e190d16189a66426599f2833f5f90 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01705fbef21e07cf5fc59dd65c9b56f7c47cc00fce669ad9ac4ab17afbb8d9c0 +size 368824 diff --git a/dresser/sim/chunk_056/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a89f74de3b95437f23758887c5482a7a41b0306c --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce859e0b3bf4874a9b5bb34cbe0b2dfc6d869a1cf3e44016711fb2137545ea57 +size 734803 diff --git a/dresser/sim/chunk_056/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86efd3c2e1532e99ce4a8c658e0baabf5aed549e --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20947919c54b205550ec07a5edfac611e9858484a6279a15adc439cf461e0879 +size 795787 diff --git a/dresser/sim/chunk_056/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..554795d4762e2b36afbbca09f79cacdfc6a1334c --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6771c56d8163a88755f5f6be370658d4149a4090190185e9b7e0b76c3f9283f +size 689829 diff --git a/dresser/sim/chunk_056/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1836f877166772a08ef7fdf1d3d721f5e6a55601 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e19eddf9ee1b5b08c1877f124888081eb65627e40f90da40b725488065f82934 +size 805165 diff --git a/dresser/sim/chunk_056/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..89f8b41b806f7c4b7dd8ff7415f274b69359cc4c --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6987923648801b60ea85aa0e20d72268b55e4d4025b349a2297549af108c5d3c +size 707210 diff --git a/dresser/sim/chunk_056/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7f4a45925112049db65622f094fe3adc7927b104 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8af0fc973de5270c97b325567ab9b81abc1191851c95bedecef0c739b63db77 +size 107219 diff --git a/dresser/sim/chunk_056/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..892f9643f0a376ec93ac422cf8dbd1cbcda928a0 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0522e9591d680c7b030715bd42702e79d77b492e0fd855e422c435e2b4b1653 +size 576097 diff --git a/dresser/sim/chunk_056/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0384062c8c022fc0d871d54923b8331eeb906e6 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdc2209ca237954ecd5f8ee9cb51ed121006aa291e9f05aa5d0a1603b1cc7a63 +size 559701 diff --git a/dresser/sim/chunk_056/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be13e936fea510645ef9ebefc7d235380969d21b --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f29202af10a98bfb9301cbd75b9bb451b770c7f8b967778f546e50098e920e83 +size 479151 diff --git a/dresser/sim/chunk_056/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b10142d880b083524a884fec92ae0deafae8454 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cffcd1f8af1aaeeaffdaace2de017f68bf35314df8ef0844dd9a50252514c78a +size 605517 diff --git a/dresser/sim/chunk_056/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96c3773fa6ac7d5d7e30aea953d8bf0e711fd9bf --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c8c7c2da033da9aee8c7cba2efae088fde404a45012f7945524d7d40eb78d45 +size 1523922 diff --git a/dresser/sim/chunk_056/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..08faed4b125f0cd9b510620b78e4c0a39ede1453 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e0f5dcc2bf745bb94a9fcb5db352672b5fa600a75c4bcd1e6bb2795324c796 +size 361482 diff --git a/dresser/sim/chunk_056/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed8489b8f4c11c5ba84338b3545a38f072ee0c7b --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9e780f65c18cb06158c861ad1c66d00eb6b2487f28116e9462c6531e1bffc9f +size 726231 diff --git a/dresser/sim/chunk_056/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ffcffbbd1e952732bc31d0805ba9f669f1883b24 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39f9277a655c25992c0c56ed92f11a0cd7a9e050d91b02bc108dce79176e74da +size 541274 diff --git a/dresser/sim/chunk_056/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ed84df2bedab236ef22a522b148de04d54d469a --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08fae165184bed8e1973dd00006cb9b30b4b9bc172f93af4df5316d8e7bd10bb +size 467675 diff --git a/dresser/sim/chunk_056/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..575e1bd2b149ba06ab26d4e90f844471cfb6c629 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad7239a42409f72df4acdaaa96afb934b850efd8f9fb1f8a30fde4ffed3b92c +size 493740 diff --git a/dresser/sim/chunk_056/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be23b4f583c4fcfaae56eed558105acfe264f7bc --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6154d655b2e54b68e81c486cd54c726d6a695ae486dcd5c12fbb8b7d5086ac4 +size 624491 diff --git a/dresser/sim/chunk_056/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2bce37c560d8c2e9cfede2c73e2f21a10b4daa38 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e38d66c99e560d3ee8620cd18429dca465cba00753d0ce57aa8f6bc8a4706c7b +size 113898 diff --git a/dresser/sim/chunk_056/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..12b8e8cc39e06092a0dfd431897ac6e7df9c001f --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:923c712dac2a07c514d360f5881306c042c7b48a04811724309a0b1babe7ca10 +size 621941 diff --git a/dresser/sim/chunk_056/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef21886b1bbcd380306a294a6faa9408e24322bd --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3192bc56ce78b099495ea27fcb166ee0769e759acb187d5fdbabd5e2f916669f +size 559729 diff --git a/dresser/sim/chunk_056/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b299ab1a80159639501339f5ee73c160fbd5a64b --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ea050b85abd2c72f1ae5107c99f7855a92543f062475c27ce8d737de0e7b2d4 +size 463594 diff --git a/dresser/sim/chunk_056/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..026998c48471ef5417958c0e1bcc0f7808274172 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50b93a7253170e47f74807bce2ff00a123f74ab66c639c19f1a51f85c10367d1 +size 632319 diff --git a/dresser/sim/chunk_056/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c62c493ed7377cab06604c91b4a7c6e89535da2 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9e2e9dad91fe94f65e472fb2b2070518837c8659b79fd13d2ea7113206482da +size 1265017 diff --git a/dresser/sim/chunk_056/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f13af46922252dcf1817c3756b832d3f2590c4a --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48813183e3c56f513e8c853345c9af6e950b1684492cd47c51235884edd2cbac +size 291755 diff --git a/dresser/sim/chunk_056/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_056/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8864d6965a57519498aa3790e2f564d89b8de148 --- /dev/null +++ b/dresser/sim/chunk_056/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fb7ab2e6725bef922d41b049d924bc33fbd74dacdbdd83384a6de62f840cc2c +size 661913 diff --git a/dresser/sim/chunk_056/experiment_config_20260518_134222.pkl b/dresser/sim/chunk_056/experiment_config_20260518_134222.pkl new file mode 100644 index 0000000000000000000000000000000000000000..cc8e905a3f8093a9b2412116fe56e67365388dce --- /dev/null +++ b/dresser/sim/chunk_056/experiment_config_20260518_134222.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d7ca9c198555bb5955aabbe56e7a48cebff6a9f134a85167b46d3348cd4ceb0 +size 8144 diff --git a/dresser/sim/chunk_056/running_log.log b/dresser/sim/chunk_056/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..fcca53607c02bd717df13f2a0e58b2ed94effece --- /dev/null +++ b/dresser/sim/chunk_056/running_log.log @@ -0,0 +1,4142 @@ +05/18 13:42:22 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 13:42:22 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 13:42:22 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 13:42:22 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/dresser/sim_chunks/chunk_056'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_dresser', + 'seed': 20056, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.6, 2.8), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + '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 13:42:22 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 13:42:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:23 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=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, 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: -0.150957m [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 163.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2765638 -1.199252 -0.1509571] yaw=-42.9deg [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: bearing 18.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +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, 1 collision-free, 1 visibility checks | map=21.9ms, retries=244.2ms, total=266.0ms [env.py: 1075] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.199, -0.151) [env.py: 1079] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [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 13:42:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:29 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:05 INFO: [Worker 0] Warmed up parallel IK solver in 36.149s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:05 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 13:43:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 25.302s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:30 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.786[m] 82.590[deg] [grasp_sample.py: 596] +05/18 13:43:32 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:34 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 13:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152976m [env.py: 870] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43429478 -0.90323763 -0.15297579] yaw=-82.3deg [env.py: 1019] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27707136 -0.95377133 -0.15297579] yaw=-39.6deg [env.py: 1019] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.3ms [env.py: 1075] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -0.903, -0.153) [env.py: 1079] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.3 deg [env.py: 1082] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:34 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:34 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 13:43:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.279s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:40 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 1.082[m] 58.167[deg] [grasp_sample.py: 596] +05/18 13:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:43 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 13:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:43 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 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118255m [env.py: 870] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.76381878 -0.89892494 -0.11825548] yaw=-51.0deg [env.py: 1019] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37694304 -1.10495106 -0.11825548] yaw=-30.0deg [env.py: 1019] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.2ms, total=237.3ms [env.py: 1075] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.764, -0.899, -0.118) [env.py: 1079] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/18 13:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:43 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:44 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 13:43:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.708s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:46 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.686[m] 109.417[deg] [grasp_sample.py: 596] +05/18 13:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:44:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:44:25 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 13:44:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.953s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.527[m] 75.302[deg] [grasp_sample.py: 596] +05/18 13:44:30 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:32 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 13:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:32 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 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163863m [env.py: 870] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27583078 -1.09283297 -0.16386342] yaw=-47.1deg [env.py: 1019] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26321701 -1.29466905 -0.16386342] yaw=-14.9deg [env.py: 1019] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16417142 -1.12822676 -0.16386342] yaw=-51.1deg [env.py: 1019] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.9ms, total=162.0ms [env.py: 1075] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -1.093, -0.164) [env.py: 1079] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/18 13:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:33 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:33 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 13:44:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.493s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:34 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.611[m] 78.789[deg] [grasp_sample.py: 596] +05/18 13:44:36 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +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=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, 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: -0.132034m [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: pos=[ 0.06278383 -1.1153777 -0.13203396] yaw=-46.2deg [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 2: bearing 36.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31222216 -1.06350698 -0.13203396] yaw=-33.4deg [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 5: bearing -97.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +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 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.7ms, total=236.7ms [env.py: 1075] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -1.115, -0.132) [env.py: 1079] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/18 13:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [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 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [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 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.975s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:44:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:44:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:45 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 13:44:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147874m [env.py: 870] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55066455 -0.71818409 -0.14787423] yaw=-83.2deg [env.py: 1019] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.6731871 -0.8911408 -0.14787423] yaw=-65.6deg [env.py: 1019] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48893134 -0.98960177 -0.14787423] yaw=-48.2deg [env.py: 1019] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=126.0ms, total=126.1ms [env.py: 1075] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.718, -0.148) [env.py: 1079] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.2 deg [env.py: 1082] +05/18 13:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:46 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:46 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 13:44:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.905s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:44:51 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:44:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:52 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 13:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160261m [env.py: 870] +05/18 13:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12611601 -1.20408324 -0.16026141] yaw=-17.5deg [env.py: 1019] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07946003 -1.25434497 -0.16026141] yaw=-14.8deg [env.py: 1019] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37739824 -1.16018075 -0.16026141] yaw=-54.2deg [env.py: 1019] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=159.6ms, total=159.7ms [env.py: 1075] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.204, -0.160) [env.py: 1079] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.5 deg [env.py: 1082] +05/18 13:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/18 13:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:53 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:53 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 13:44:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.745s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:59 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.689[m] 73.740[deg] [grasp_sample.py: 596] +05/18 13:45:01 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:45:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:45:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:45:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:45:02 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 13:45:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:45:02 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 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166470m [env.py: 870] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:45:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40765089 -0.92588897 -0.16647011] yaw=-53.4deg [env.py: 1019] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:45:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.3ms, total=230.4ms [env.py: 1075] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -0.926, -0.166) [env.py: 1079] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/18 13:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:45:03 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:45:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 13:45:03 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 13:45:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.375s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.667[m] 104.163[deg] [grasp_sample.py: 596] +05/18 13:45:18 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:45:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:45:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:45:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:45:20 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 13:45:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:45:20 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 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181984m [env.py: 870] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:45:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61618125 -0.95481102 -0.18198359] yaw=-50.5deg [env.py: 1019] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:45:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=231.2ms, total=231.2ms [env.py: 1075] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.955, -0.182) [env.py: 1079] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/18 13:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:45:20 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:45:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 13:45:20 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 13:45:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.938s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:22 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.794[m] 70.166[deg] [grasp_sample.py: 596] +05/18 13:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:45:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:45:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:23 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 13:46:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:46:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:46 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:48:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 13:48:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:48:07 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/18 13:48:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:48:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 13:48:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.83s (batch: 3.62s, save: 10.21s) [pipeline.py: 300] +05/18 13:48:22 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=10.85s: + episode_total: mean=38.49s, total=346.38s, count=9, min=3921.4ms, max=182163.1ms + sensor_polling: mean=439.1ms, total=152.82s, count=348, min=397.3ms, max=552.3ms + task_sampling: mean=1.21s, total=10.85s, count=9, min=429.6ms, max=6763.7ms + physics_step: mean=30.9ms, total=10.76s, count=348, min=22.5ms, max=39.0ms + save_trajectories: mean=10.21s, total=10.21s, count=1, min=10209.2ms, max=10209.2ms + scene_load: mean=6.16s, total=6.16s, count=1, min=6159.1ms, max=6159.1ms + task_specific_sample: mean=518.2ms, total=4.66s, count=9, min=426.5ms, max=600.5ms + scene_env_create: mean=3.95s, total=3.95s, count=1, min=3952.7ms, max=3952.7ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.0ms, max=3620.0ms + scene_compile: mean=1.97s, total=1.97s, count=1, min=1973.7ms, max=1973.7ms + compile_mujoco: mean=1.21s, total=1.21s, count=1, min=1214.8ms, max=1214.8ms + compile_xml_load: mean=648.9ms, total=648.9ms, count=1, min=648.9ms, max=648.9ms + scene_init: mean=156.4ms, total=156.4ms, count=1, min=156.4ms, max=156.4ms + scene_asset_install: mean=76.0ms, total=76.0ms, count=1, min=76.0ms, max=76.0ms + compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + asset_install_grasps: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms + scene_randomize: mean=1.6ms, total=14.6ms, count=9, min=1.6ms, max=1.8ms + mj_forward_sync: mean=589.1us, total=5.3ms, count=9, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=23.3us, total=0.2ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:48:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:24 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 13:48:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:24 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 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175714m [env.py: 870] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66041622 -0.69437957 -0.17571449] yaw=-54.6deg [env.py: 1019] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77506119 -0.91626417 -0.17571449] yaw=-78.3deg [env.py: 1019] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61848437 -0.70798523 -0.17571449] yaw=-56.4deg [env.py: 1019] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.3ms [env.py: 1075] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.694, -0.176) [env.py: 1079] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/18 13:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:24 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:24 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 13:48:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.962s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:48:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:48:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:31 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 13:48:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174378m [env.py: 870] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.5ms, total=225.5ms [env.py: 1105] +05/18 13:48:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:48:31 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:33 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 13:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:33 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 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197392m [env.py: 870] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01938827 -1.24718161 -0.19739188] yaw=-33.3deg [env.py: 1019] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39691839 -0.97693755 -0.19739188] yaw=-26.7deg [env.py: 1019] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50710075 -0.76528471 -0.19739188] yaw=-41.9deg [env.py: 1019] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1075] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.019, -1.247, -0.197) [env.py: 1079] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/18 13:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:33 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:33 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 13:48:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.951s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:48:39 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:48:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:40 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 13:48:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:40 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 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169116m [env.py: 870] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07366444 -1.2564324 -0.16911629] yaw=-21.9deg [env.py: 1019] +05/18 13:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19370345 -1.24667595 -0.16911629] yaw=-15.6deg [env.py: 1019] +05/18 13:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.7ms, total=233.7ms [env.py: 1075] +05/18 13:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.074, -1.256, -0.169) [env.py: 1079] +05/18 13:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.9 deg [env.py: 1082] +05/18 13:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 13:48:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:41 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:41 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 13:48:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.073s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:48:46 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:48 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 13:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:48 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 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169186m [env.py: 870] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10848197 -1.37400347 -0.169186 ] yaw=-11.3deg [env.py: 1019] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69802595 -0.92707313 -0.169186 ] yaw=-84.6deg [env.py: 1019] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4714671 -1.06574397 -0.169186 ] yaw=-51.3deg [env.py: 1019] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.9ms, total=179.9ms [env.py: 1075] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.108, -1.374, -0.169) [env.py: 1079] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.3 deg [env.py: 1082] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:48 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:49 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 13:48:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.048s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.640[m] 99.202[deg] [grasp_sample.py: 596] +05/18 13:48:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:48:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:48:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:55 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 13:49:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:50:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:51:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:51:12 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 13:51:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.994s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:17 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.258[m] 31.704[deg] [grasp_sample.py: 596] +05/18 13:51:19 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:21 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 13:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:21 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 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171317m [env.py: 870] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47886712 -1.05561511 -0.17131721] yaw=-49.3deg [env.py: 1019] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.70535963 -0.91470279 -0.17131721] yaw=-60.8deg [env.py: 1019] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=235.5ms, total=235.5ms [env.py: 1075] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -1.056, -0.171) [env.py: 1079] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/18 13:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:22 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:22 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 13:51:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.248s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.625[m] 75.580[deg] [grasp_sample.py: 596] +05/18 13:51:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:51:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:51:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:25 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 13:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:52:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:54:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 13:54:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:54:04 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/18 13:54:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:54:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 13:54:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 12.55s (batch: 3.71s, save: 8.84s) [pipeline.py: 300] +05/18 13:54:17 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.56s: + episode_total: mean=57.43s, total=344.57s, count=6, min=237.0ms, max=175664.7ms + sensor_polling: mean=441.8ms, total=229.73s, count=520, min=403.8ms, max=615.2ms + physics_step: mean=30.6ms, total=15.90s, count=520, min=22.1ms, max=43.1ms + save_trajectories: mean=8.84s, total=8.84s, count=1, min=8841.4ms, max=8841.4ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3712.8ms, max=3712.8ms + task_specific_sample: mean=461.9ms, total=2.77s, count=6, min=231.8ms, max=546.4ms + task_sampling: mean=511.3ms, total=2.56s, count=5, min=452.0ms, max=549.4ms + task_sampling_failed: mean=237.0ms, total=237.0ms, count=1, min=237.0ms, max=237.0ms + scene_randomize: mean=1.8ms, total=10.8ms, count=6, min=1.5ms, max=2.3ms + mj_forward_sync: mean=575.8us, total=3.5ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=19.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:18 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 13:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:18 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 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156275m [env.py: 870] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42493288 -0.89252577 -0.1562752 ] yaw=-40.3deg [env.py: 1019] +05/18 13:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.8ms [env.py: 1075] +05/18 13:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.893, -0.156) [env.py: 1079] +05/18 13:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/18 13:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/18 13:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:19 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:19 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 13:54:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.577s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:41 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.745[m] 118.117[deg] [grasp_sample.py: 596] +05/18 13:54:42 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:54:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:44 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 13:54:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119964m [env.py: 870] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62216567 -0.87691989 -0.11996425] yaw=-41.9deg [env.py: 1019] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90927877 -0.72914836 -0.11996425] yaw=-99.3deg [env.py: 1019] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.3ms, total=227.3ms [env.py: 1075] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.877, -0.120) [env.py: 1079] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/18 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:45 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:45 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 13:54:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 29.876s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:15 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.835[m] 90.646[deg] [grasp_sample.py: 596] +05/18 13:55:16 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:18 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 13:55:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107542m [env.py: 870] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13483484 -1.34916743 -0.10754194] yaw=-21.0deg [env.py: 1019] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53826512 -0.88367293 -0.10754194] yaw=-73.6deg [env.py: 1019] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.7ms, total=231.8ms [env.py: 1075] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -1.349, -0.108) [env.py: 1079] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.0 deg [env.py: 1082] +05/18 13:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:19 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:19 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 13:55:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.686s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:30 INFO: [Worker 0] Feasible grasp found 151 (originally 151): w/ 0.783[m] 83.664[deg] [grasp_sample.py: 596] +05/18 13:55:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:56:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:56:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:57:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:57:44 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 13:57:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.251s, found 136 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:51 INFO: [Worker 0] Feasibility-checked 136 grasps in 6.796s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:57:51 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:52 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 13:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:52 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 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140915m [env.py: 870] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3570435 -1.10812722 -0.1409146 ] yaw=-55.6deg [env.py: 1019] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.8583547 -0.73381673 -0.1409146 ] yaw=-87.0deg [env.py: 1019] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.4ms, total=234.4ms [env.py: 1075] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.108, -0.141) [env.py: 1079] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:53 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:53 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 13:57:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.916s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:58 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.524[m] 70.358[deg] [grasp_sample.py: 596] +05/18 13:57:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:57:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:57:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:59 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 13:58:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:59:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:59:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:59:29 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 13:59:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.262s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:30 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.858s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:30 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.026[m] 1.374[deg] [grasp_sample.py: 596] +05/18 13:59:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:59:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:59:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:59:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:15 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:00:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:00:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:00:36 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/18 14:00:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:00:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:00:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.01s (batch: 3.86s, save: 9.14s) [pipeline.py: 300] +05/18 14:00:50 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=2.17s: + episode_total: mean=96.58s, total=386.33s, count=4, min=24036.6ms, max=177593.9ms + sensor_polling: mean=447.0ms, total=233.35s, count=522, min=417.2ms, max=616.4ms + physics_step: mean=30.9ms, total=16.13s, count=522, min=21.2ms, max=43.8ms + save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.4ms, max=9144.4ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3862.4ms, max=3862.4ms + task_sampling: mean=543.7ms, total=2.17s, count=4, min=538.4ms, max=550.0ms + task_specific_sample: mean=540.2ms, total=2.16s, count=4, min=535.2ms, max=546.2ms + scene_randomize: mean=1.9ms, total=7.7ms, count=4, min=1.5ms, max=2.4ms + mj_forward_sync: mean=563.5us, total=2.3ms, count=4, min=0.5ms, max=0.6ms + policy_setup: mean=18.2us, 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 14:00:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:52 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 14:00:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124396m [env.py: 870] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=233.1ms, total=233.2ms [env.py: 1105] +05/18 14:00:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:00:52 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:00:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:54 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 14:00:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156839m [env.py: 870] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69845577 -0.87008927 -0.15683942] yaw=-64.9deg [env.py: 1019] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.79250815 -0.8581081 -0.15683942] yaw=-82.5deg [env.py: 1019] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.7ms, total=236.7ms [env.py: 1075] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.698, -0.870, -0.157) [env.py: 1079] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/18 14:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:54 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:54 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 14:00:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.236s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.769[m] 70.111[deg] [grasp_sample.py: 596] +05/18 14:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:26 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:03:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:03:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:03:47 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/18 14:04:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:04:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.28s (batch: 3.74s, save: 9.53s) [pipeline.py: 300] +05/18 14:04:01 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.56s: + episode_total: mean=93.78s, total=187.57s, count=2, min=247.0ms, max=187318.6ms + sensor_polling: mean=451.3ms, total=128.17s, count=284, min=422.9ms, max=614.1ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9533.1ms, max=9533.1ms + physics_step: mean=31.2ms, total=8.86s, count=284, min=23.1ms, max=46.9ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.1ms, max=3743.1ms + task_specific_sample: mean=396.9ms, total=793.8ms, count=2, min=240.2ms, max=553.6ms + task_sampling: mean=557.6ms, total=557.6ms, count=1, min=557.6ms, max=557.6ms + task_sampling_failed: mean=247.0ms, total=247.0ms, count=1, min=247.0ms, max=247.0ms + scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.2ms, max=3.0ms + mj_forward_sync: mean=625.7us, total=1.3ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=22.1us, 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 14:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:03 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 14:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:03 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 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142489m [env.py: 870] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.86319124 -0.87474232 -0.1424895 ] yaw=-107.2deg [env.py: 1019] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19907962 -1.35887095 -0.1424895 ] yaw=-36.2deg [env.py: 1019] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09532938 -1.37069992 -0.1424895 ] yaw=-8.0deg [env.py: 1019] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms [env.py: 1075] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.863, -0.875, -0.142) [env.py: 1079] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.2 deg [env.py: 1082] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:03 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:03 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 14:04:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.033s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:05 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.685[m] 123.658[deg] [grasp_sample.py: 596] +05/18 14:04:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:07 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 14:04:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:04:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:04:46 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 14:04:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.515s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:47 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.505[m] 81.447[deg] [grasp_sample.py: 596] +05/18 14:04:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:05:04 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 14:05:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.190s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:07 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.489[m] 81.388[deg] [grasp_sample.py: 596] +05/18 14:05:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:05:24 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 14:05:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.188s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:27 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.489[m] 81.388[deg] [grasp_sample.py: 596] +05/18 14:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:05:44 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:05:44 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=0.53s: + episode_total: mean=101.38s, total=101.38s, count=1, min=101382.8ms, max=101382.8ms + sensor_polling: mean=445.5ms, total=37.42s, count=84, min=429.4ms, max=513.1ms + physics_step: mean=27.0ms, total=2.27s, count=84, min=19.4ms, max=46.6ms + task_sampling: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms + task_specific_sample: mean=526.4ms, total=526.4ms, count=1, min=526.4ms, max=526.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=601.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:05:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:05:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:05:46 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 14:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:05:46 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 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130061m [env.py: 870] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43794003 -1.00364444 -0.13006123] yaw=-73.7deg [env.py: 1019] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90023398 -0.70469104 -0.13006123] yaw=-112.0deg [env.py: 1019] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.7ms, total=239.8ms [env.py: 1075] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.004, -0.130) [env.py: 1079] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg [env.py: 1082] +05/18 14:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:05:46 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:05:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:05:46 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 14:05:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.729s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:53 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.836[m] 65.656[deg] [grasp_sample.py: 596] +05/18 14:05:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:54 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 14:07:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:07:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:31 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:08:53 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:08:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:08:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:09:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:09:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:09:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.87s (batch: 3.67s, save: 10.20s) [pipeline.py: 300] +05/18 14:09:08 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.56s: + episode_total: mean=201.95s, total=201.95s, count=1, min=201953.7ms, max=201953.7ms + sensor_polling: mean=447.8ms, total=134.34s, count=300, min=423.9ms, max=577.7ms + save_trajectories: mean=10.20s, total=10.20s, count=1, min=10202.3ms, max=10202.3ms + physics_step: mean=30.9ms, total=9.27s, count=300, min=23.2ms, max=47.3ms + save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3669.9ms, max=3669.9ms + task_sampling: mean=560.0ms, total=560.0ms, count=1, min=560.0ms, max=560.0ms + task_specific_sample: mean=556.1ms, total=556.1ms, count=1, min=556.1ms, max=556.1ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=588.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.4us, 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 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=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, 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: -0.194573m [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 -57.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48273076 -0.73634114 -0.19457252] yaw=-58.8deg [env.py: 1019] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17363061 -1.39740303 -0.19457252] yaw=-12.7deg [env.py: 1019] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=238.8ms, total=238.8ms [env.py: 1075] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.736, -0.195) [env.py: 1079] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/18 14:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 14:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:10 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:10 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 14:09:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.953s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:09:15 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:09:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:17 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 14:09:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160804m [env.py: 870] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.73778308 -0.7849448 -0.16080351] yaw=-88.5deg [env.py: 1019] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0404342 -1.29245534 -0.16080351] yaw=-13.9deg [env.py: 1019] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14608512 -1.38223053 -0.16080351] yaw=-13.5deg [env.py: 1019] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.7ms, total=136.7ms [env.py: 1075] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.738, -0.785, -0.161) [env.py: 1079] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.5 deg [env.py: 1082] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:18 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:18 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 14:09:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 28.634s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:09:46 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.654[m] 102.849[deg] [grasp_sample.py: 596] +05/18 14:09:48 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:09:48 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 14:09:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:50 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 14:09:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:50 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 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183302m [env.py: 870] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.8828256 -0.67917498 -0.18330186] yaw=-105.7deg [env.py: 1019] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.4ms, total=233.4ms [env.py: 1075] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.883, -0.679, -0.183) [env.py: 1079] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.7 deg [env.py: 1082] +05/18 14:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:50 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:51 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 14:09:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.951s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:09:56 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:09:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:57 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 14:09:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144363m [env.py: 870] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42922003 -0.88111978 -0.14436301] yaw=-70.0deg [env.py: 1019] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59249306 -0.91713532 -0.14436301] yaw=-59.6deg [env.py: 1019] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30950375 -1.02516263 -0.14436301] yaw=-22.4deg [env.py: 1019] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.4ms [env.py: 1075] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.881, -0.144) [env.py: 1079] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg [env.py: 1082] +05/18 14:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 14:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:58 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:58 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 14:09:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.659s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:08 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.774[m] 84.331[deg] [grasp_sample.py: 596] +05/18 14:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:09 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 14:11:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:11:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:29 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:12:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:12:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:12:52 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/18 14:13:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:13:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:13:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 14.02s (batch: 3.79s, save: 10.23s) [pipeline.py: 300] +05/18 14:13:06 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=2.20s: + episode_total: mean=57.96s, total=231.83s, count=4, min=5766.4ms, max=189067.2ms + sensor_polling: mean=448.9ms, total=129.29s, count=288, min=424.3ms, max=626.1ms + save_trajectories: mean=10.23s, total=10.23s, count=1, min=10231.0ms, max=10231.0ms + physics_step: mean=30.7ms, total=8.84s, count=288, min=23.4ms, max=39.2ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3786.1ms, max=3786.1ms + task_sampling: mean=550.0ms, total=2.20s, count=4, min=488.9ms, max=593.7ms + task_specific_sample: mean=546.3ms, total=2.19s, count=4, min=485.9ms, max=590.0ms + scene_randomize: mean=2.1ms, total=8.3ms, count=4, min=1.5ms, max=2.9ms + mj_forward_sync: mean=616.9us, total=2.5ms, count=4, min=0.5ms, max=0.7ms + policy_setup: mean=21.0us, 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 14:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:08 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 14:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187123m [env.py: 870] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1197802 -1.35560172 -0.18712338] yaw=4.0deg [env.py: 1019] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65530826 -0.78951943 -0.18712338] yaw=-59.0deg [env.py: 1019] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22846814 -1.09108823 -0.18712338] yaw=-26.4deg [env.py: 1019] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms [env.py: 1075] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.356, -0.187) [env.py: 1079] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 4.0 deg [env.py: 1082] +05/18 14:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:09 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:09 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 14:13:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.071s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:23 INFO: [Worker 0] Feasible grasp found 94 (originally 94): w/ 0.725[m] 62.512[deg] [grasp_sample.py: 596] +05/18 14:13:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:24 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 14:14:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:14:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:48 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:15:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:15:48 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 14:15:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 474 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.108s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:53 INFO: [Worker 0] Feasible grasp found 234 (originally 234): w/ 0.063[m] 13.362[deg] [grasp_sample.py: 596] +05/18 14:15:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:07 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:16:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:16:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:16:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:16:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:16:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:16:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 14.47s (batch: 3.95s, save: 10.51s) [pipeline.py: 300] +05/18 14:16:46 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.54s: + episode_total: mean=217.33s, total=217.33s, count=1, min=217330.7ms, max=217330.7ms + sensor_polling: mean=460.9ms, total=138.26s, count=300, min=425.9ms, max=611.3ms + save_trajectories: mean=10.51s, total=10.51s, count=1, min=10512.9ms, max=10512.9ms + physics_step: mean=32.2ms, total=9.65s, count=300, min=23.8ms, max=57.4ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.4ms, max=3954.4ms + task_sampling: mean=536.3ms, total=536.3ms, count=1, min=536.3ms, max=536.3ms + task_specific_sample: mean=531.8ms, total=531.8ms, count=1, min=531.8ms, max=531.8ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=591.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:16:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:47 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 14:16:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:47 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 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175886m [env.py: 870] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.70042207 -0.81230704 -0.17588566] yaw=-69.7deg [env.py: 1019] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56443744 -0.89491054 -0.17588566] yaw=-43.0deg [env.py: 1019] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54062698 -0.9106534 -0.17588566] yaw=-44.4deg [env.py: 1019] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.3ms, total=249.3ms [env.py: 1075] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.700, -0.812, -0.176) [env.py: 1079] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/18 14:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/18 14:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:48 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:48 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 14:16:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.447s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.686[m] 93.880[deg] [grasp_sample.py: 596] +05/18 14:16:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:18:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:18:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:13 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:19:35 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:19:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:19:35 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/18 14:19:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:19:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:19:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.12s (batch: 3.65s, save: 9.47s) [pipeline.py: 300] +05/18 14:19:49 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.59s: + episode_total: mean=181.34s, total=181.34s, count=1, min=181340.2ms, max=181340.2ms + sensor_polling: mean=464.0ms, total=128.54s, count=277, min=431.8ms, max=626.0ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9469.3ms, max=9469.3ms + physics_step: mean=31.5ms, total=8.72s, count=277, min=24.1ms, max=45.8ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3651.6ms, max=3651.6ms + task_sampling: mean=592.7ms, total=592.7ms, count=1, min=592.7ms, max=592.7ms + task_specific_sample: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=620.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:19:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:50 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 14:19:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:50 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 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153865m [env.py: 870] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33452274 -1.2109088 -0.15386536] yaw=-53.2deg [env.py: 1019] +05/18 14:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=261.8ms, total=261.8ms [env.py: 1075] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.211, -0.154) [env.py: 1079] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:51 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:51 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 14:19:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.203s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:56 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.614[m] 93.971[deg] [grasp_sample.py: 596] +05/18 14:19:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:19:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:19:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:58 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 14:20:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:21:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:05 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:22:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:22:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:22:25 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/18 14:22:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:22:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:22:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 12.38s (batch: 3.54s, save: 8.84s) [pipeline.py: 300] +05/18 14:22:38 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.60s: + episode_total: mean=167.76s, total=167.76s, count=1, min=167756.1ms, max=167756.1ms + sensor_polling: mean=454.1ms, total=116.70s, count=257, min=420.7ms, max=615.9ms + save_trajectories: mean=8.84s, total=8.84s, count=1, min=8841.0ms, max=8841.0ms + physics_step: mean=31.7ms, total=8.15s, count=257, min=24.1ms, max=40.9ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3543.4ms, max=3543.4ms + task_sampling: mean=595.6ms, total=595.6ms, count=1, min=595.6ms, max=595.6ms + task_specific_sample: mean=591.6ms, total=591.6ms, count=1, min=591.6ms, max=591.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=558.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.6us, 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 14:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:40 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 14:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122151m [env.py: 870] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3356558 -0.8679148 -0.12215093] yaw=-49.0deg [env.py: 1019] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36340197 -0.87125334 -0.12215093] yaw=-70.1deg [env.py: 1019] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.6ms [env.py: 1075] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -0.868, -0.122) [env.py: 1079] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:40 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:40 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 14:22:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.934s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:46 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:47 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 14:22:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139753m [env.py: 870] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10224933 -1.3891361 -0.13975342] yaw=-31.6deg [env.py: 1019] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72751855 -0.68667425 -0.13975342] yaw=-103.2deg [env.py: 1019] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=319.5ms, total=319.6ms [env.py: 1075] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -1.389, -0.140) [env.py: 1079] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.6 deg [env.py: 1082] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:48 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:48 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 14:22:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.997s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:53 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.586[m] 91.820[deg] [grasp_sample.py: 596] +05/18 14:22:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:22:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:22:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:54 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 14:23:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:24:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:32 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:24:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:24:32 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 14:24:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.197s, found 303 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.941s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:24:38 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:24:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:39 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 14:24:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190934m [env.py: 870] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2051979 -1.11449016 -0.19093385] yaw=-33.6deg [env.py: 1019] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3318931 -1.1760092 -0.19093385] yaw=-53.3deg [env.py: 1019] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=258.3ms, total=258.4ms [env.py: 1075] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.114, -0.191) [env.py: 1079] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg [env.py: 1082] +05/18 14:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/18 14:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:40 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:40 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 14:24:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.683s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.807[m] 54.890[deg] [grasp_sample.py: 596] +05/18 14:24:53 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:54 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 14:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132762m [env.py: 870] +05/18 14:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22085889 -1.17531492 -0.13276187] yaw=-52.2deg [env.py: 1019] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19461952 -1.34785547 -0.13276187] yaw=1.6deg [env.py: 1019] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=257.3ms, total=257.3ms [env.py: 1075] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.175, -0.133) [env.py: 1079] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/18 14:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/18 14:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:55 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:55 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 14:24:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.208s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:01 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.794[m] 95.250[deg] [grasp_sample.py: 596] +05/18 14:25:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:25:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:25:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:02 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 14:26:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:26:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:32 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:27:55 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:27:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:27:55 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/18 14:28:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:28:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:28:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 14.18s (batch: 3.78s, save: 10.40s) [pipeline.py: 300] +05/18 14:28:09 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=2.41s: + episode_total: mean=81.05s, total=324.21s, count=4, min=5789.4ms, max=194928.6ms + sensor_polling: mean=465.4ms, total=226.17s, count=486, min=430.0ms, max=632.2ms + physics_step: mean=32.3ms, total=15.70s, count=486, min=22.8ms, max=49.6ms + save_trajectories: mean=10.40s, total=10.40s, count=1, min=10397.5ms, max=10397.5ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3779.0ms, max=3779.0ms + task_sampling: mean=601.6ms, total=2.41s, count=4, min=578.5ms, max=637.1ms + task_specific_sample: mean=597.4ms, total=2.39s, count=4, min=574.2ms, max=632.9ms + scene_randomize: mean=2.0ms, total=8.1ms, count=4, min=1.6ms, max=2.8ms + mj_forward_sync: mean=638.2us, total=2.6ms, count=4, min=0.6ms, max=0.8ms + policy_setup: mean=18.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:28:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:11 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 14:28:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:11 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 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100925m [env.py: 870] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66411432 -0.92828649 -0.1009249 ] yaw=-81.6deg [env.py: 1019] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=256.3ms, total=256.3ms [env.py: 1075] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.664, -0.928, -0.101) [env.py: 1079] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.6 deg [env.py: 1082] +05/18 14:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:28:12 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:28:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 14:28:12 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 14:28:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.013s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:16 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.682[m] 92.464[deg] [grasp_sample.py: 596] +05/18 14:28:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:28:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:28:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:18 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 14:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:28:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:28:46 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 14:28:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.567s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:11 INFO: [Worker 0] Feasible grasp found 314 (originally 7): w/ 0.605[m] 79.279[deg] [grasp_sample.py: 596] +05/18 14:29:13 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:14 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 14:29:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133450m [env.py: 870] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41985257 -0.77544683 -0.13344976] yaw=-50.7deg [env.py: 1019] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38722566 -0.95655171 -0.13344976] yaw=-54.4deg [env.py: 1019] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.9ms, total=242.9ms [env.py: 1075] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.775, -0.133) [env.py: 1079] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:15 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:15 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 14:29:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.827s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:29:20 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:29:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:22 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 14:29:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:22 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 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118236m [env.py: 870] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57845618 -0.80387794 -0.11823553] yaw=-91.1deg [env.py: 1019] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.0ms, total=245.1ms [env.py: 1075] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.804, -0.118) [env.py: 1079] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.1 deg [env.py: 1082] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:22 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:22 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 14:29:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.023s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:35 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.885[m] 89.062[deg] [grasp_sample.py: 596] +05/18 14:29:36 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:38 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 14:29:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185223m [env.py: 870] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02821096 -1.24823679 -0.18522299] yaw=-41.0deg [env.py: 1019] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.1ms, total=244.2ms [env.py: 1075] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.028, -1.248, -0.185) [env.py: 1079] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg [env.py: 1082] +05/18 14:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:39 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:39 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 14:29:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.966s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:29:44 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:29:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:46 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 14:29:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:46 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 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105406m [env.py: 870] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60558339 -0.72491021 -0.10540597] yaw=-81.6deg [env.py: 1019] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53274245 -0.95363217 -0.10540597] yaw=-39.3deg [env.py: 1019] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06763063 -1.23591087 -0.10540597] yaw=-30.2deg [env.py: 1019] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=121.9ms, total=122.0ms [env.py: 1075] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.606, -0.725, -0.105) [env.py: 1079] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.6 deg [env.py: 1082] +05/18 14:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:46 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:46 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 14:29:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:29:51 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:29:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:53 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 14:29:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121154m [env.py: 870] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49113802 -0.83634894 -0.12115436] yaw=-81.0deg [env.py: 1019] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77342343 -0.91024268 -0.12115436] yaw=-90.6deg [env.py: 1019] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53589819 -1.00432031 -0.12115436] yaw=-75.1deg [env.py: 1019] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.1ms, total=170.1ms [env.py: 1075] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.836, -0.121) [env.py: 1079] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.0 deg [env.py: 1082] +05/18 14:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:54 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:54 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 14:29:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.916s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:03 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.710[m] 85.801[deg] [grasp_sample.py: 596] +05/18 14:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:30:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:06 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 14:30:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147373m [env.py: 870] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84342915 -0.90189011 -0.14737279] yaw=-55.9deg [env.py: 1019] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46461518 -1.05000229 -0.14737279] yaw=-47.4deg [env.py: 1019] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=255.6ms, total=255.6ms [env.py: 1075] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.843, -0.902, -0.147) [env.py: 1079] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/18 14:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/18 14:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:07 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:07 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 14:30:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.644s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:13 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.661[m] 127.740[deg] [grasp_sample.py: 596] +05/18 14:30:15 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:30:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:16 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 14:30:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189784m [env.py: 870] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63882016 -0.78399114 -0.18978422] yaw=-54.2deg [env.py: 1019] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17406955 -1.38613395 -0.18978422] yaw=-1.0deg [env.py: 1019] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80706221 -0.8133736 -0.18978422] yaw=-52.5deg [env.py: 1019] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.1ms, total=167.2ms [env.py: 1075] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.784, -0.190) [env.py: 1079] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/18 14:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:17 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:17 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 14:30:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.779s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:33 INFO: [Worker 0] Feasible grasp found 133 (originally 133): w/ 0.776[m] 81.932[deg] [grasp_sample.py: 596] +05/18 14:30:35 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:36 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 14:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180153m [env.py: 870] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53188137 -0.88458828 -0.18015321] yaw=-62.4deg [env.py: 1019] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13046439 -1.3412249 -0.18015321] yaw=-5.6deg [env.py: 1019] +05/18 14:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms [env.py: 1075] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.532, -0.885, -0.180) [env.py: 1079] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:37 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:37 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 14:30:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.499s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:48 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.633[m] 79.666[deg] [grasp_sample.py: 596] +05/18 14:30:49 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:30:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:51 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 14:30:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:51 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 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154326m [env.py: 870] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=245.3ms, total=245.3ms [env.py: 1105] +05/18 14:30:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:30:51 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:30:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:53 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 14:30:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174266m [env.py: 870] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=241.3ms, total=241.3ms [env.py: 1105] +05/18 14:30:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:30:53 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:55 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 14:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132178m [env.py: 870] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41620742 -1.04103636 -0.13217806] yaw=-43.3deg [env.py: 1019] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.3ms, total=247.4ms [env.py: 1075] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.416, -1.041, -0.132) [env.py: 1079] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/18 14:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:56 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:56 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 14:30:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.944s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:03 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.618[m] 90.971[deg] [grasp_sample.py: 596] +05/18 14:31:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:31:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:31:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:04 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 14:32:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:32:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:21 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:33:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:33:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:33:42 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/18 14:33:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:33:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.12s (batch: 3.74s, save: 9.39s) [pipeline.py: 300] +05/18 14:33:56 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=5.46s: + episode_total: mean=27.10s, total=325.26s, count=12, min=252.2ms, max=180447.3ms + sensor_polling: mean=464.9ms, total=137.16s, count=295, min=427.7ms, max=672.4ms + physics_step: mean=32.8ms, total=9.67s, count=295, min=24.0ms, max=54.6ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9386.7ms, max=9386.7ms + task_specific_sample: mean=493.4ms, total=5.92s, count=12, min=247.7ms, max=590.3ms + task_sampling: mean=545.5ms, total=5.46s, count=10, min=436.8ms, max=594.3ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3736.1ms, max=3736.1ms + task_sampling_failed: mean=254.8ms, total=509.6ms, count=2, min=252.2ms, max=257.3ms + scene_randomize: mean=1.7ms, total=20.6ms, count=12, min=1.5ms, max=2.5ms + mj_forward_sync: mean=599.2us, total=7.2ms, count=12, min=0.5ms, max=0.7ms + policy_setup: mean=20.4us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:33:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:57 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 14:33:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:57 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 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158522m [env.py: 870] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=262.4ms, total=262.5ms [env.py: 1105] +05/18 14:33:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:33:58 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:59 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 14:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190012m [env.py: 870] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52913422 -0.75780838 -0.19001176] yaw=-52.3deg [env.py: 1019] +05/18 14:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=263.9ms, total=263.9ms [env.py: 1075] +05/18 14:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.758, -0.190) [env.py: 1079] +05/18 14:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/18 14:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/18 14:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:34:00 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:34:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:34:00 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 14:34:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.337s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:34:11 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:34:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:34:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:34:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:34:12 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 14:34:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:34:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109032m [env.py: 870] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:34:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4514301 -0.97774699 -0.1090324 ] yaw=-41.3deg [env.py: 1019] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07232975 -1.35763393 -0.1090324 ] yaw=-49.0deg [env.py: 1019] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.8ms [env.py: 1075] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.978, -0.109) [env.py: 1079] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.3 deg [env.py: 1082] +05/18 14:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/18 14:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:34:13 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:34:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:34:13 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 14:34:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.149s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:20 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.652[m] 112.916[deg] [grasp_sample.py: 596] +05/18 14:34:22 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:34:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:34:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:34:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:34:24 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 14:34:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:34:24 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 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183387m [env.py: 870] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:34:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37351344 -1.09338016 -0.18338651] yaw=-46.0deg [env.py: 1019] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42466179 -1.07535286 -0.18338651] yaw=-49.9deg [env.py: 1019] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:34:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.0ms, total=242.0ms [env.py: 1075] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.093, -0.183) [env.py: 1079] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/18 14:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:34:24 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:34:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 14:34:25 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 14:34:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.956s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.672[m] 118.419[deg] [grasp_sample.py: 596] +05/18 14:34:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:35:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:35:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:55 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:37:17 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:37:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:37:17 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/18 14:37:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:37:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:37:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.24s (batch: 3.71s, save: 9.53s) [pipeline.py: 300] +05/18 14:37:31 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.78s: + episode_total: mean=52.11s, total=208.43s, count=4, min=276.8ms, max=187198.0ms + sensor_polling: mean=481.0ms, total=132.75s, count=276, min=443.8ms, max=649.3ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9533.4ms, max=9533.4ms + physics_step: mean=33.1ms, total=9.12s, count=276, min=24.0ms, max=47.2ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3707.2ms, max=3707.2ms + task_specific_sample: mean=509.8ms, total=2.04s, count=4, min=270.2ms, max=610.5ms + task_sampling: mean=593.6ms, total=1.78s, count=3, min=556.3ms, max=614.0ms + task_sampling_failed: mean=276.8ms, total=276.8ms, count=1, min=276.8ms, max=276.8ms + scene_randomize: mean=2.1ms, total=8.3ms, count=4, min=1.6ms, max=2.5ms + mj_forward_sync: mean=782.7us, total=3.1ms, count=4, min=0.6ms, max=1.3ms + policy_setup: mean=21.0us, total=0.1ms, count=3, 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 14:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:33 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 14:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:33 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 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197994m [env.py: 870] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47431357 -0.80265666 -0.19799355] yaw=-61.1deg [env.py: 1019] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14365574 -1.14277852 -0.19799355] yaw=-49.8deg [env.py: 1019] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22264673 -1.03334731 -0.19799355] yaw=-40.3deg [env.py: 1019] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=211.4ms, total=211.5ms [env.py: 1075] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.803, -0.198) [env.py: 1079] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/18 14:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:33 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:33 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 14:37:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.523s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:51 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.815[m] 73.680[deg] [grasp_sample.py: 596] +05/18 14:37:53 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:55 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 14:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:55 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 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144770m [env.py: 870] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36141479 -0.90288164 -0.14476952] yaw=-73.5deg [env.py: 1019] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68045783 -0.73864018 -0.14476952] yaw=-50.6deg [env.py: 1019] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50007476 -0.7400443 -0.14476952] yaw=-57.8deg [env.py: 1019] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.3ms, total=194.4ms [env.py: 1075] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.903, -0.145) [env.py: 1079] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg [env.py: 1082] +05/18 14:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:55 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:55 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 14:37:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.359s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.858[m] 69.611[deg] [grasp_sample.py: 596] +05/18 14:38:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:02 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 14:39:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:39:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:46 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:41:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:41:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:41:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:41:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:41:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:41:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 14.90s (batch: 3.88s, save: 11.02s) [pipeline.py: 300] +05/18 14:41:25 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.09s: + episode_total: mean=115.29s, total=230.58s, count=2, min=20073.8ms, max=210504.1ms + sensor_polling: mean=476.0ms, total=142.80s, count=300, min=451.5ms, max=622.0ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11016.0ms, max=11016.0ms + physics_step: mean=32.4ms, total=9.73s, count=300, min=24.0ms, max=39.0ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3879.7ms, max=3879.7ms + task_sampling: mean=546.2ms, total=1.09s, count=2, min=539.6ms, max=552.9ms + task_specific_sample: mean=541.7ms, total=1.08s, count=2, min=534.5ms, max=548.9ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.4ms, max=2.4ms + mj_forward_sync: mean=618.5us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:41:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:27 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 14:41:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184926m [env.py: 870] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59757259 -0.89009274 -0.18492576] yaw=-90.6deg [env.py: 1019] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41816452 -1.06604676 -0.18492576] yaw=-35.7deg [env.py: 1019] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15108338 -1.41886168 -0.18492576] yaw=-5.0deg [env.py: 1019] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms [env.py: 1075] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.890, -0.185) [env.py: 1079] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.6 deg [env.py: 1082] +05/18 14:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:27 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:28 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 14:41:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.252s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:35 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.598[m] 112.687[deg] [grasp_sample.py: 596] +05/18 14:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:41:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:41:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:42:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:42:39 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 14:42:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.352s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:42:44 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.313[m] 48.379[deg] [grasp_sample.py: 596] +05/18 14:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:43:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:43:04 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 14:43:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.296s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:09 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.310[m] 47.628[deg] [grasp_sample.py: 596] +05/18 14:43:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:43:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:43:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:43:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:43:28 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 14:43:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.509s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:33 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.310[m] 47.628[deg] [grasp_sample.py: 596] +05/18 14:43:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:43:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:43:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:43:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:43:52 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:43:52 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=0.55s: + episode_total: mean=144.95s, total=144.95s, count=1, min=144947.8ms, max=144947.8ms + sensor_polling: mean=465.8ms, total=50.77s, count=109, min=433.2ms, max=634.0ms + physics_step: mean=29.2ms, total=3.18s, count=109, min=19.7ms, max=43.0ms + task_sampling: mean=546.5ms, total=546.5ms, count=1, min=546.5ms, max=546.5ms + task_specific_sample: mean=541.8ms, total=541.8ms, count=1, min=541.8ms, max=541.8ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=671.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:43:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:54 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 14:43:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:54 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 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193335m [env.py: 870] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14584041 -1.10011738 -0.19333503] yaw=-66.0deg [env.py: 1019] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15452822 -0.99659692 -0.19333503] yaw=-50.9deg [env.py: 1019] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02855027 -1.3619331 -0.19333503] yaw=-7.4deg [env.py: 1019] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.1ms, total=266.2ms [env.py: 1075] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.100, -0.193) [env.py: 1079] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/18 14:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:54 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:54 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 14:43:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.928s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:43:59 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:01 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 14:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102954m [env.py: 870] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66266015 -0.95714191 -0.10295416] yaw=-79.4deg [env.py: 1019] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=254.1ms, total=254.2ms [env.py: 1075] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.663, -0.957, -0.103) [env.py: 1079] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg [env.py: 1082] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/18 14:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:02 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:02 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 14:44:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.325s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.648[m] 118.567[deg] [grasp_sample.py: 596] +05/18 14:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:06 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 14:45:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:45:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:26 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:46:49 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 14:46:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:46:49 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/18 14:47:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:47:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 14:47:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 12.90s (batch: 3.83s, save: 9.07s) [pipeline.py: 300] +05/18 14:47:02 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.18s: + episode_total: mean=93.34s, total=186.67s, count=2, min=5772.8ms, max=180897.8ms + sensor_polling: mean=471.3ms, total=127.71s, count=271, min=438.5ms, max=625.5ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9068.2ms, max=9068.2ms + physics_step: mean=32.2ms, total=8.72s, count=271, min=24.3ms, max=42.5ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3830.2ms, max=3830.2ms + task_sampling: mean=589.2ms, total=1.18s, count=2, min=582.6ms, max=595.8ms + task_specific_sample: mean=585.0ms, total=1.17s, count=2, min=578.4ms, max=591.7ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.5ms, max=1.8ms + mj_forward_sync: mean=602.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:47:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:04 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 14:47:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173575m [env.py: 870] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.84140394 -0.78469121 -0.17357483] yaw=-94.3deg [env.py: 1019] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.4ms, total=247.5ms [env.py: 1075] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.841, -0.785, -0.174) [env.py: 1079] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.3 deg [env.py: 1082] +05/18 14:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:04 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:05 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 14:47:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 46.879s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:52 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.711[m] 95.731[deg] [grasp_sample.py: 596] +05/18 14:47:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:49:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:49:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:49:19 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 14:49:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:49:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:51:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 140.523s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:51:40 INFO: [Worker 0] Feasible grasp found 513 (originally 206): w/ 0.092[m] 15.501[deg] [grasp_sample.py: 596] +05/18 14:51:42 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:43 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 14:51:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:43 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 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101902m [env.py: 870] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83924885 -0.73134145 -0.10190238] yaw=-108.0deg [env.py: 1019] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:51:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.5ms, total=230.5ms [env.py: 1075] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.839, -0.731, -0.102) [env.py: 1079] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.0 deg [env.py: 1082] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:51:44 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 14:51:44 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 14:51:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:51:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.465s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:05 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.716[m] 99.196[deg] [grasp_sample.py: 596] +05/18 14:52:06 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:52:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:08 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 14:52:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126480m [env.py: 870] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34274053 -0.91268291 -0.12648023] yaw=-35.5deg [env.py: 1019] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45034751 -0.98417443 -0.12648023] yaw=-83.9deg [env.py: 1019] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25548276 -1.10670734 -0.12648023] yaw=-60.9deg [env.py: 1019] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=207.8ms, total=207.9ms [env.py: 1075] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -0.913, -0.126) [env.py: 1079] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/18 14:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:09 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:09 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 14:52:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.788s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:23 INFO: [Worker 0] Feasible grasp found 103 (originally 103): w/ 0.825[m] 132.248[deg] [grasp_sample.py: 596] +05/18 14:52:24 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:52:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:26 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 14:52:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:26 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 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198254m [env.py: 870] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71822615 -0.87146361 -0.1982539 ] yaw=-83.9deg [env.py: 1019] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02997614 -1.25704171 -0.1982539 ] yaw=-30.0deg [env.py: 1019] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61086603 -0.77885598 -0.1982539 ] yaw=-62.0deg [env.py: 1019] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=160.3ms, total=160.4ms [env.py: 1075] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.718, -0.871, -0.198) [env.py: 1079] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.9 deg [env.py: 1082] +05/18 14:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:27 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:27 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 14:52:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.232s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.701[m] 88.723[deg] [grasp_sample.py: 596] +05/18 14:52:31 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:52:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:33 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 14:52:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:33 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 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155084m [env.py: 870] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32948215 -0.94526752 -0.15508437] yaw=-34.6deg [env.py: 1019] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.81190256 -0.75208713 -0.15508437] yaw=-103.1deg [env.py: 1019] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23028274 -1.25600139 -0.15508437] yaw=-32.7deg [env.py: 1019] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=231.1ms, total=231.2ms [env.py: 1075] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -0.945, -0.155) [env.py: 1079] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg [env.py: 1082] +05/18 14:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:33 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:33 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 14:52:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.145s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:46 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.920[m] 77.944[deg] [grasp_sample.py: 596] +05/18 14:52:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:52:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:52:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:47 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 14:54:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:54:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:54:41 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 14:54:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 324 non-colliding grasps [grasp_sample.py: 520] +05/18 14:57:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 147.293s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:57:08 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:57:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:57:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:57:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:57:10 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 14:57:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:57:10 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 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163574m [env.py: 870] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:57:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55420805 -0.79491979 -0.16357387] yaw=-50.9deg [env.py: 1019] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42208591 -0.83726463 -0.16357387] yaw=-84.9deg [env.py: 1019] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34251911 -0.98953361 -0.16357387] yaw=-68.5deg [env.py: 1019] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:57:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.7ms, total=193.7ms [env.py: 1075] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.795, -0.164) [env.py: 1079] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/18 14:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:57:11 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s [base_object_manipulation_planner_policy.py: 377] +05/18 14:57:11 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 14:57:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:57:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:57:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.273s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:57:16 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.719[m] 92.914[deg] [grasp_sample.py: 596] +05/18 14:57:18 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:57:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:57:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:57:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:57:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:57:20 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 14:57:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:57:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103073m [env.py: 870] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:57:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=242.5ms, total=242.5ms [env.py: 1105] +05/18 14:57:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:57:20 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:57:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:57:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:57:22 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 14:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:57:22 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 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115497m [env.py: 870] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29851958 -1.10397751 -0.11549681] yaw=-44.5deg [env.py: 1019] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5496099 -0.71780208 -0.11549681] yaw=-76.2deg [env.py: 1019] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:57:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.2ms, total=250.3ms [env.py: 1075] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -1.104, -0.115) [env.py: 1079] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg [env.py: 1082] +05/18 14:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:57:22 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:57:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:57:22 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 14:57:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:57:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:57:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.070s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:57:28 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.700[m] 101.489[deg] [grasp_sample.py: 596] +05/18 14:57:29 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:57:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:57:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:57:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:57:31 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 14:57:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:57:31 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 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155602m [env.py: 870] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:57:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85652463 -0.80297726 -0.15560207] yaw=-61.2deg [env.py: 1019] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8577648 -0.83922732 -0.15560207] yaw=-100.3deg [env.py: 1019] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.251483 -1.12589699 -0.15560207] yaw=-66.7deg [env.py: 1019] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:57:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.1ms [env.py: 1075] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.857, -0.803, -0.156) [env.py: 1079] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/18 14:57:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:57:32 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:57:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:57:32 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 14:57:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:57:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:57:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.792s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:57:35 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.859[m] 74.790[deg] [grasp_sample.py: 596] +05/18 14:57:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:57:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:57:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:57:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:58:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:59:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:59:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:00:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:00:18 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 15:00:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:00:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.220s, found 99 non-colliding grasps [grasp_sample.py: 520] +05/18 15:00:19 INFO: [Worker 0] Feasibility-checked 99 grasps in 0.811s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:00:19 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.029[m] 1.523[deg] [grasp_sample.py: 596] +05/18 15:00:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:00:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:00:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:00:35 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:00:56 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 15:00:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:00:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:01:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:01:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 15:01:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 13.71s (batch: 3.73s, save: 9.98s) [pipeline.py: 300] +05/18 15:01:11 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=4.30s: + episode_total: mean=92.51s, total=832.62s, count=9, min=256.1ms, max=277656.4ms + sensor_polling: mean=457.6ms, total=286.47s, count=626, min=414.7ms, max=634.1ms + physics_step: mean=30.6ms, total=19.18s, count=626, min=23.7ms, max=47.0ms + save_trajectories: mean=9.98s, total=9.98s, count=1, min=9975.9ms, max=9975.9ms + task_specific_sample: mean=501.6ms, total=4.51s, count=9, min=249.3ms, max=584.5ms + task_sampling: mean=537.1ms, total=4.30s, count=8, min=473.9ms, max=589.3ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.9ms, max=3732.9ms + task_sampling_failed: mean=256.1ms, total=256.1ms, count=1, min=256.1ms, max=256.1ms + scene_randomize: mean=2.0ms, total=18.4ms, count=9, min=1.6ms, max=3.1ms + mj_forward_sync: mean=622.9us, total=5.6ms, count=9, min=0.5ms, max=0.7ms + policy_setup: mean=21.3us, total=0.2ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:01:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:01:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:01:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:01:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:01:12 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 15:01:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:01:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127668m [env.py: 870] +05/18 15:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:01:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38551333 -0.9410977 -0.12766815] yaw=-73.9deg [env.py: 1019] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:01:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.3ms [env.py: 1075] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -0.941, -0.128) [env.py: 1079] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/18 15:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/18 15:01:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:01:13 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 15:01:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 15:01:13 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 15:01:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:01:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 38.129s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:01:51 INFO: [Worker 0] Feasible grasp found 494 (originally 187): w/ 0.720[m] 121.332[deg] [grasp_sample.py: 596] +05/18 15:01:53 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:01:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:01:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:01:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:01:55 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 15:01:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:01:55 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 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154228m [env.py: 870] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:01:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52058151 -0.75844794 -0.15422821] yaw=-55.6deg [env.py: 1019] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58499339 -0.70749244 -0.15422821] yaw=-69.8deg [env.py: 1019] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.6617934 -0.7729352 -0.15422821] yaw=-80.0deg [env.py: 1019] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:01:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.1ms, total=186.2ms [env.py: 1075] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.758, -0.154) [env.py: 1079] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/18 15:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:01:55 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 15:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 15:01:55 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 15:01:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.833s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:00 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:02 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 15:02:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:02 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 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153973m [env.py: 870] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23316647 -1.21065329 -0.15397343] yaw=-37.3deg [env.py: 1019] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.415625 -0.81078425 -0.15397343] yaw=-54.4deg [env.py: 1019] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29184189 -0.89948143 -0.15397343] yaw=-45.5deg [env.py: 1019] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.4ms, total=152.5ms [env.py: 1075] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -1.211, -0.154) [env.py: 1079] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/18 15:02:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:02 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:02 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 15:02:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.405s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:19 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.738[m] 76.225[deg] [grasp_sample.py: 596] +05/18 15:02:21 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:02:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:22 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 15:02:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:22 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 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187620m [env.py: 870] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.6ms, total=224.7ms [env.py: 1105] +05/18 15:02:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:02:22 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:02:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:24 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 15:02:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:24 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 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170086m [env.py: 870] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.9ms, total=224.9ms [env.py: 1105] +05/18 15:02:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:02:24 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:02:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:26 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 15:02:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149677m [env.py: 870] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80646299 -0.86397809 -0.14967664] yaw=-71.1deg [env.py: 1019] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45147721 -0.91962094 -0.14967664] yaw=-54.1deg [env.py: 1019] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.6ms, total=234.6ms [env.py: 1075] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.806, -0.864, -0.150) [env.py: 1079] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/18 15:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:26 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:27 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 15:02:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.341s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:31 INFO: [Worker 0] Feasible grasp found 269 (originally 269): w/ 0.676[m] 108.776[deg] [grasp_sample.py: 596] +05/18 15:02:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:02:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:02:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:02:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:02:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:03:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:04:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:04:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:05:03 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:05:24 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_056 [pipeline.py: 1174] +05/18 15:05:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:05:24 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/18 15:05:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:05:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_056 [save_utils.py: 785] +05/18 15:05:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 12.52s (batch: 3.57s, save: 8.94s) [pipeline.py: 300] +05/18 15:05:37 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=2.06s: + episode_total: mean=42.75s, total=256.53s, count=6, min=235.2ms, max=191267.6ms + sensor_polling: mean=440.7ms, total=122.08s, count=277, min=421.8ms, max=609.5ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8942.8ms, max=8942.8ms + physics_step: mean=30.7ms, total=8.50s, count=277, min=22.1ms, max=41.1ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3574.3ms, max=3574.3ms + task_specific_sample: mean=417.7ms, total=2.51s, count=6, min=231.0ms, max=559.7ms + task_sampling: mean=514.5ms, total=2.06s, count=4, min=449.6ms, max=563.6ms + task_sampling_failed: mean=235.9ms, total=471.9ms, count=2, min=235.1ms, max=236.8ms + scene_randomize: mean=1.9ms, total=11.2ms, count=6, min=1.5ms, max=2.5ms + mj_forward_sync: mean=561.7us, total=3.4ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=17.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:05:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:05:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:05:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:05:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:05:39 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 15:05:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:05:39 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 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117957m [env.py: 870] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:05:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.88985143 -0.90927998 -0.11795689] yaw=-110.7deg [env.py: 1019] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.86432742 -0.82925606 -0.11795689] yaw=-62.8deg [env.py: 1019] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45564814 -0.92388994 -0.11795689] yaw=-67.0deg [env.py: 1019] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:05:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.6ms, total=246.6ms [env.py: 1075] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.890, -0.909, -0.118) [env.py: 1079] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.7 deg [env.py: 1082] +05/18 15:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:05:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:05:39 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 15:05:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 15:05:40 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 15:05:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:05:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:05:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.556s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:05:42 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.785[m] 65.966[deg] [grasp_sample.py: 596] +05/18 15:05:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:05:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:05:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:05:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:06:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:06:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:07:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:07:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:07:23 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 15:07:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:07:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:13:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 379.022s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:13:42 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:13:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:13:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:13:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:13:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:13:44 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 15:13:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:13:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160726m [env.py: 870] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:13:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53965373 -0.7847616 -0.16072571] yaw=-40.3deg [env.py: 1019] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03619993 -1.33134112 -0.16072571] yaw=-10.5deg [env.py: 1019] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29278693 -1.05638628 -0.16072571] yaw=-48.3deg [env.py: 1019] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:13:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.6ms, total=129.6ms [env.py: 1075] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.785, -0.161) [env.py: 1079] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/18 15:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:13:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:13:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:13:44 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 15:13:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 15:13:44 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 15:13:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:13:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:13:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.313s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:13:53 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.882[m] 66.382[deg] [grasp_sample.py: 596] +05/18 15:13:54 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:13:56 WARNING: [Worker 0] No trajectory data to save for chunk_056 [pipeline.py: 234] +05/18 15:13:56 WARNING: [Worker 0] No trajectory data to save for chunk_056 [pipeline.py: 234] +05/18 15:13:56 INFO: [Worker 0] Worker 0 completed house 1: 16/18 successful episodes [pipeline.py: 1323] +05/18 15:13:56 INFO: [Worker 0] [PROFILE] House 1 complete: 16/18 successful, 18 episodes, total_time=8585.68s + House averages: + episode_total: mean=74.57s, total=5369.36s, count=72, min=235.2ms, max=483249.4ms + sensor_polling: mean=455.6ms, total=2720.51s, count=5971, min=397.3ms, max=672.4ms + physics_step: mean=31.3ms, total=186.60s, count=5971, min=19.4ms, max=57.4ms + save_trajectories: mean=9.71s, total=155.31s, count=16, min=8841.0ms, max=11016.0ms + save_batch_prep: mean=3.74s, total=59.78s, count=16, min=3543.4ms, max=3954.4ms + task_sampling: mean=640.2ms, total=40.97s, count=64, min=429.6ms, max=6763.7ms + task_specific_sample: mean=507.4ms, total=36.53s, count=72, min=231.0ms, max=632.9ms + scene_load: mean=6.16s, total=6.16s, count=1, min=6159.1ms, max=6159.1ms + scene_env_create: mean=3.95s, total=3.95s, count=1, min=3952.7ms, max=3952.7ms + task_sampling_failed: mean=249.8ms, total=2.00s, count=8, min=235.1ms, max=276.8ms + scene_compile: mean=1.97s, total=1.97s, count=1, min=1973.7ms, max=1973.7ms + compile_mujoco: mean=1.21s, total=1.21s, count=1, min=1214.8ms, max=1214.8ms + compile_xml_load: mean=648.9ms, total=648.9ms, count=1, min=648.9ms, max=648.9ms + scene_init: mean=156.4ms, total=156.4ms, count=1, min=156.4ms, max=156.4ms + scene_randomize: mean=2.0ms, total=142.4ms, count=72, min=1.5ms, max=3.1ms + scene_asset_install: mean=76.0ms, total=76.0ms, count=1, min=76.0ms, max=76.0ms + compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + asset_install_grasps: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + mj_forward_sync: mean=607.3us, total=43.7ms, count=72, min=0.5ms, max=1.3ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=20.5us, total=1.3ms, count=64, 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 15:13:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 15:13:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=8585.68s + Worker averages: + episode_total: mean=74.57s, total=5369.36s, count=72, min=235.2ms, max=483249.4ms + sensor_polling: mean=455.6ms, total=2720.51s, count=5971, min=397.3ms, max=672.4ms + physics_step: mean=31.3ms, total=186.60s, count=5971, min=19.4ms, max=57.4ms + save_trajectories: mean=9.71s, total=155.31s, count=16, min=8841.0ms, max=11016.0ms + save_batch_prep: mean=3.74s, total=59.78s, count=16, min=3543.4ms, max=3954.4ms + task_sampling: mean=640.2ms, total=40.97s, count=64, min=429.6ms, max=6763.7ms + task_specific_sample: mean=507.4ms, total=36.53s, count=72, min=231.0ms, max=632.9ms + scene_load: mean=6.16s, total=6.16s, count=1, min=6159.1ms, max=6159.1ms + scene_env_create: mean=3.95s, total=3.95s, count=1, min=3952.7ms, max=3952.7ms + task_sampling_failed: mean=249.8ms, total=2.00s, count=8, min=235.1ms, max=276.8ms + scene_compile: mean=1.97s, total=1.97s, count=1, min=1973.7ms, max=1973.7ms + compile_mujoco: mean=1.21s, total=1.21s, count=1, min=1214.8ms, max=1214.8ms + compile_xml_load: mean=648.9ms, total=648.9ms, count=1, min=648.9ms, max=648.9ms + scene_init: mean=156.4ms, total=156.4ms, count=1, min=156.4ms, max=156.4ms + scene_randomize: mean=2.0ms, total=142.4ms, count=72, min=1.5ms, max=3.1ms + scene_asset_install: mean=76.0ms, total=76.0ms, count=1, min=76.0ms, max=76.0ms + compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + asset_install_grasps: mean=56.1ms, total=56.1ms, count=1, min=56.1ms, max=56.1ms + mj_forward_sync: mean=607.3us, total=43.7ms, count=72, min=0.5ms, max=1.3ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=20.5us, total=1.3ms, count=64, 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 15:13:58 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 15:13:58 INFO: Success count: 16, Total count: 18 [pipeline.py: 1491] +05/18 15:13:58 INFO: Success rate: 88.89% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_056/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_056/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02109e0ab767c1441fde2590695ad68337e0698b --- /dev/null +++ b/dresser/sim/chunk_056/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d91bbbdaae4dfefe71f75edd9158fb7c6e99f8b309e7e92bf9bafdf587296d86 +size 1149171809