diff --git a/dresser/sim/chunk_003/chunk_log.txt b/dresser/sim/chunk_003/chunk_log.txt new file mode 100644 index 0000000000000000000000000000000000000000..a9b3ed63aed435a6522026c7f69305f5dbde135f --- /dev/null +++ b/dresser/sim/chunk_003/chunk_log.txt @@ -0,0 +1,5 @@ +chunk_pad: 003 +node: viscam1 +salvaged: 2026-05-18T15:05:17-07:00 +ntraj: 14 +note: rescued after stale-FD bash failure; sim data intact on /scr. diff --git a/dresser/sim/chunk_003/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..46da1b7758ec3f3e77bfeadbe42703a60089bd26 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:3ed0cadc3383220c11f069017d5ff3c14983320a74a61e3525d85c3a4470870b +size 837210 diff --git a/dresser/sim/chunk_003/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4600a38c764689e986a5aefe57fcd8171fae96c6 --- /dev/null +++ b/dresser/sim/chunk_003/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:d003d9e796758d32b1826b76364645e5e8f88efb9dc3ae2d86dd75c3ed28be54 +size 748213 diff --git a/dresser/sim/chunk_003/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a85a30409d4e47646ebd4b32cfbeddee9c7df8a --- /dev/null +++ b/dresser/sim/chunk_003/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:ca886fffe184b4ee0950b07fd172ebc78d940806106a0f9d9e5932778f5a9175 +size 737201 diff --git a/dresser/sim/chunk_003/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c62564526f8d784e6ce7d8c8f5357344f01862b2 --- /dev/null +++ b/dresser/sim/chunk_003/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:f89f4b901e421fb12a9f25fbc12d10866210bb47b3e5fdd276b1967740abb5a1 +size 644331 diff --git a/dresser/sim/chunk_003/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..944c86c1347a81e09cfb5203cd03718f41d772fa --- /dev/null +++ b/dresser/sim/chunk_003/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:c812fb6db3b309c1a18d5d5f3543fb0baa9c3c97e1013c8193b20c9c6d9e86f9 +size 110673 diff --git a/dresser/sim/chunk_003/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b41c45798ce077a95512b3ff5ab0c2e6ef6d65d3 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:1c347c823ef5bcefb35ace3959eaa66ea62169b189fca5dc7657e926fb15088f +size 625298 diff --git a/dresser/sim/chunk_003/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5ac3dc9020ac7d0c3a4cdb3b8a8d97adc84ba67 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:39a621e557dd19ea5bb3c82399bacc5b9f9af8351ff262c3b5861672e69559aa +size 475677 diff --git a/dresser/sim/chunk_003/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa0bac5f766cc21e718d42cff83f042a0601c293 --- /dev/null +++ b/dresser/sim/chunk_003/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:b0f66c7084d0dfe0ed8ab4019e8c6c531a751f912fb930e4a4a804a782c887bb +size 429733 diff --git a/dresser/sim/chunk_003/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ecc7735a48e1a6318f69027a1f3cd2352114d59 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:406050f39f8161636688228cb8ef93afe3f37775e809778a4b8dc7ed433948f6 +size 582035 diff --git a/dresser/sim/chunk_003/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f3b403d47c2fd4ada68ed3dfc0b0d4c7cb214dc3 --- /dev/null +++ b/dresser/sim/chunk_003/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:ef3de4b36742d53e29f694a5f7ebaacfeb99b00c42e8d8fd0169d555664e6111 +size 914579 diff --git a/dresser/sim/chunk_003/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f64368809166b49844fbc69db44d381e94eecb47 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:9064b91fbb79e666da2e8a8bb281c8adccd1838eefb391a3ccd8861d0f2c7c35 +size 268737 diff --git a/dresser/sim/chunk_003/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bf5a7afa244c92a6eb0060a7d30f9d800cad48d5 --- /dev/null +++ b/dresser/sim/chunk_003/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:bd56e948a97c6d8a0c39e9f5cc6c5247c9c8be39e57e185d5b13e7d670998145 +size 690531 diff --git a/dresser/sim/chunk_003/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3132df3a914bfdd5ba4061ceeb1006d1ddfae84 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:066ecf108e5637117bbbe16fe8d6107b8ed6eb525b84d76e13cb66f7ed93b621 +size 363078 diff --git a/dresser/sim/chunk_003/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88c1d0bf4e511b6d2dd6b7183d32cfd0e5e9a429 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:65dddfaeb441d7850e8698031159dd6e11dc1c8b95658a2bd98ae20d3ad01ca6 +size 318723 diff --git a/dresser/sim/chunk_003/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..249dec6572d85c2c52a2689ad8a6d7723d36e205 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:30013916951c2468fe7708f25cce430fb2a3ff208eaac3a03141e8dd5edbbc7b +size 500101 diff --git a/dresser/sim/chunk_003/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e21079abee86c1682dcf7a592281692fb9309c19 --- /dev/null +++ b/dresser/sim/chunk_003/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:dbca347a6dc55dba6b5e50071b1ab6fd2a48ec4228857b8980942d6d2014b1fa +size 989076 diff --git a/dresser/sim/chunk_003/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..00a6cd8791e890f01d2c564446b3b5e67f1bcc34 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:445ce259f90996cb80a2f7ba05256126e65b0e91cf717de0e353c332027f198f +size 426026 diff --git a/dresser/sim/chunk_003/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..556664d041b6290c37b1cea1ccf855dec2f57274 --- /dev/null +++ b/dresser/sim/chunk_003/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:d78c2009bbe777c614882fa64eecd34f38d8fe64222cf8efbee7bec238eb438d +size 793285 diff --git a/dresser/sim/chunk_003/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0d11f5a589c7ac97560f4e0b954baf632789372b --- /dev/null +++ b/dresser/sim/chunk_003/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:d5b2ae26a2fa00b48ca7d3246bcb2adae19e7218ce45d729e7fd14152526c770 +size 527834 diff --git a/dresser/sim/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a52294802022d2fbef2ce6b508555214c686aeaa --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:506f4fd0dffaa1cd830f8dafe05cf45503e70c22da6c06276a561a5cc1e32569 +size 446838 diff --git a/dresser/sim/chunk_003/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b57bab64cee10e25d108e3e04459f252fb6910b9 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:53d857c8e9a35a5214bb02fa1ed7ca8dd4d6586b7d77a8b9655701d71df7053f +size 585220 diff --git a/dresser/sim/chunk_003/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..51155e8c070189710336506df9baa73054d20d07 --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5305b75a54983cd9a7dcc9de6aacdbf8c0dbdab92ffe8453ca825b191483939f +size 755578 diff --git a/dresser/sim/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0e5c2969e37f4df0209a092a54785f0f94316842 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:89b45c48688c614258561d1c389f091abc0ab9c71d8ec729bf2c1c549fe2aa50 +size 103407 diff --git a/dresser/sim/chunk_003/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f593093fa6153fa0ea67bf341b2ea614dc834163 --- /dev/null +++ b/dresser/sim/chunk_003/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:f47cd57bbb236bd03232f0330c51911525f878bd3336f703b205c3d3ec887f46 +size 644671 diff --git a/dresser/sim/chunk_003/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59f156cd09095e6ff4f2e231f269aaf928b48f47 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:88dea5dac280323efecf4d726469d4abc05fd09640325357812c467a7a72752a +size 446690 diff --git a/dresser/sim/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..87b95ab8c63893af889e693b8c3ede526cde8345 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:357b327cc6099fd5f4877ead0e265c1ff554625b460b9b9573bed7bf3509ae2f +size 381475 diff --git a/dresser/sim/chunk_003/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5cb0981198b381761145027edb24bb39ee17123b --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:24f7bfa8b8a7cb30f4738edba6a3919f6358240fb8c90fbc5879483d252b9c0b +size 598576 diff --git a/dresser/sim/chunk_003/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..27b899a04ec8d3e9f2cc877066f2af4ab9878962 --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d02c4e5ce3d27e8d238802825f375a15ece061cb6d349f99b306dddc985b735 +size 729307 diff --git a/dresser/sim/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b034d29bcee4df39d01f6483b3cc9c74220b02b --- /dev/null +++ b/dresser/sim/chunk_003/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:d0dcbad65e0b5f1eb30a3d3938da4bf2b167f541529678b74434edcb18b8beba +size 104635 diff --git a/dresser/sim/chunk_003/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb4f63a75d9371bcf1e1a2b05305f4df0fcb6267 --- /dev/null +++ b/dresser/sim/chunk_003/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:dee5bf62caef4b0b7bb858f736a7bf5da89f38a6e08907128ff0b5419a5a36a0 +size 567634 diff --git a/dresser/sim/chunk_003/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7fdcb927b49ae3a06650d6652fe3e71022a46655 --- /dev/null +++ b/dresser/sim/chunk_003/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:f0c6044eb1612f90d2ca22d8367dd5a8688071a7147549ecf8c58e38b1a2932b +size 461832 diff --git a/dresser/sim/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c3f788b96dd9c27427f17cc934d76e03e761b2c --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:2eb7cbbfd1a84a3143f3f410ae8ced8cc79df2abc705cfb26229da303ac08ace +size 389928 diff --git a/dresser/sim/chunk_003/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7f8bc83872b9edbaf96be0e4db7db507717bad72 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:17e0e3179c2f113385acf083a701029a29103a16aaf0960c6c10c466be492df2 +size 549587 diff --git a/dresser/sim/chunk_003/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4a6db4fe3e577cd023dbe2a9d3a5930d2f2a841c --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5d5ea7a0fe450c41574cf4a33f5b020148d44b6f1e7c3752eea31a8724e8f5 +size 661729 diff --git a/dresser/sim/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f0c0320a10f7702e8ec1f0aa93dea4f10692d306 --- /dev/null +++ b/dresser/sim/chunk_003/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:c5ee574a8956d4b7914c495940b1dfe7a9280f99a067dd607004329dd6048aec +size 106587 diff --git a/dresser/sim/chunk_003/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5fb9e770d4d42700b424390b6b70a98ba871e219 --- /dev/null +++ b/dresser/sim/chunk_003/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:d3a6f5b3a26d32ef4569af5f27029066d036225a84075a9cfc1158279a4b11aa +size 702955 diff --git a/dresser/sim/chunk_003/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..27e50fb9a38b6a3da2a85cfd56ed83d7250a4016 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:4ff6d2976b2ec1bed5f3d93520e40564cc55ff2d2169f3fb9679362853a06afa +size 396839 diff --git a/dresser/sim/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d23caabc7ff4b9a791a935604c1ea96363324e7 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:85a871f857e0ace979b43c2ad15277f32b25a6059fd2ea444aeb27ab215c94d0 +size 344291 diff --git a/dresser/sim/chunk_003/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..76c7d3c2c9874a1de867fc663b56c1ab709db3ba --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:0ee95716cce58876efbfb98f4dd6d2d802c8635eecaf1578c80ce50681330445 +size 469339 diff --git a/dresser/sim/chunk_003/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ff9866f52d8a177c636a95f801fee628d497372 --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34648344fe44f333cfbc4c72477fa05a9a0d7a90fb5e50b1a956847f051282f0 +size 802825 diff --git a/dresser/sim/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a05a5286fcac029cca3e5e28620171fa24f8ee72 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:4f6dbbe9f0db7a7b65ebade57c023089e71db4054c0ec88608bd16ad55eb9349 +size 204197 diff --git a/dresser/sim/chunk_003/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8271d82ce33876bc49c6a46d335205c4f8b86648 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:90215f773e50cc2850a4835e25618d9f222b187e4ba3508bbf630ac29a8958cd +size 869145 diff --git a/dresser/sim/chunk_003/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de2c5fc09b1d09f91723d7a33cbe208d7787acad --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:28ffd7f2bf9e42bf6a5509812ce12e852446e384cf97338fef10a50482ee7976 +size 632913 diff --git a/dresser/sim/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9a504981eba9c7270a7979e77573be92c1ee1f97 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:53707b6c8c80804196266eb6436ad512a83b5c6fb24d9c38656d7d6920d10da6 +size 538669 diff --git a/dresser/sim/chunk_003/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..475211c2607e41561d616543918490f2b3216b3e --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:3cd2834e5ad85b437addbe5ceb5334482565e25c900efbd25af19f77628961d1 +size 539165 diff --git a/dresser/sim/chunk_003/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ae85d336494a3d46a313032407ddf09d8ba4182 --- /dev/null +++ b/dresser/sim/chunk_003/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:c9ca7222964ff4d74f321ffc7f0c5147f9f38acfe981535ad98a93ee71b59fec +size 594378 diff --git a/dresser/sim/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1646ed2696b0b76752df37a81d49d93996494337 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:427e4550f8b85faeb056b552d3e4bcf0e773fd680c195bc89b4c54c9c0b23e46 +size 101792 diff --git a/dresser/sim/chunk_003/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6c15aeeebe1d0aab919438a0d2cc10309cd0db30 --- /dev/null +++ b/dresser/sim/chunk_003/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:d1575eab62a905cc1156a53c8ef2f6829d404a4146e7bc7936b548006b48decd +size 495311 diff --git a/dresser/sim/chunk_003/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7db411b1175debdb1dfeb54cee924aedaf6a1bf4 --- /dev/null +++ b/dresser/sim/chunk_003/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:fc65abca20ac4fe5b10b171cef4ead06b0fb27392f90c50d7a6d81141a693c05 +size 551328 diff --git a/dresser/sim/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7fef3d7ba783f1e4363ec3d313e98a1405baa2c --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:469d78b7c5c866d82addde63e14d3292ded24402b6efa82236b299f8bc91151e +size 437569 diff --git a/dresser/sim/chunk_003/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..566a077e10957c77c443d09f05149062f2b1af84 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:2418ad945dfe9c85fd8c6ed100d18d71dc9ee971e004d9fe0203bdf1dfe71ebd +size 596939 diff --git a/dresser/sim/chunk_003/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df9911a15082a9a0412984dbf1bdb90e4292c22d --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:755036dc9dc0f3dc2dd3bb9484612464c770c00fbc35614a7aa45e6ebbe1abae +size 669986 diff --git a/dresser/sim/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4f55f7c9a1323466a9ff0552fcd1593a3bc3528d --- /dev/null +++ b/dresser/sim/chunk_003/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:be23ee058b9c550108a8f84b597f37d9918c24bcdf63c88431ba2d46084b79fa +size 93831 diff --git a/dresser/sim/chunk_003/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..49f6a0e8a962f16d76c67ba0ee14a41f6cdff225 --- /dev/null +++ b/dresser/sim/chunk_003/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:e02c932310c50bf37d472e144a4ed5958ab2099bcd664f53508fd2edda06e141 +size 647726 diff --git a/dresser/sim/chunk_003/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b6bb5ef1118f44245818d838bf46eb248884fdf6 --- /dev/null +++ b/dresser/sim/chunk_003/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:d7d3ccee08f515b1ecff61af2c37de5ad715bc84d99eefce14e9dcf3dd41700e +size 469951 diff --git a/dresser/sim/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c99bf043a0749f861d37f5083a43976ff8fdf519 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:36aaecdb2c393b50b37eeef52349d89f30e6dc5bb8771e926378b18c905ccc13 +size 419286 diff --git a/dresser/sim/chunk_003/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df4eb6a2caedc9c9c5d12f2cb2894b0d632726ac --- /dev/null +++ b/dresser/sim/chunk_003/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:b6512fb4c6121b1abd55d2ce2fd358d1766c4965b00d54983a4cf888cc8af102 +size 589514 diff --git a/dresser/sim/chunk_003/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7750120924f279118863d2262c27aeac7b16450e --- /dev/null +++ b/dresser/sim/chunk_003/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:a5e0928cdc8b542c6dd7d11036a4aa86a6581fb3a9821a6d6113b6ce07a46027 +size 634255 diff --git a/dresser/sim/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ef8560ed724afce65386bbf8f54dffd80321e14 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:5d4446c9350b36869098707f2b7fb4cdec2bdc9039f7994e12ac23f37aee8c2a +size 94920 diff --git a/dresser/sim/chunk_003/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5d6babcc303f4474d93b25894b666ef17b73617 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:4a2ede6c71028c91192948dcf521badbb027a2af60ae6757aeb1692b4bea223b +size 436397 diff --git a/dresser/sim/chunk_003/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9fa199327f47906f4b28ddf54168ff8dd01bb101 --- /dev/null +++ b/dresser/sim/chunk_003/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:d4ca21304bc5425230914f6354332ea082e2cb82a014bb81096ae5999867a88a +size 510756 diff --git a/dresser/sim/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d7195c37b3ff5f5637ea104c00655a16054be41 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:1fd48f806d1b21ee2f4617e1ab4906aed4825205ef549d817da58d1e28c4bb98 +size 426841 diff --git a/dresser/sim/chunk_003/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9707a6e3c1a2f2e01a650a9323930e028ac0805 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:71fdafb76c1abd7d490b78ac1bff3b8a8895823b8794ec94458be0b42de2a7c3 +size 606987 diff --git a/dresser/sim/chunk_003/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57cce698ebc92eb6b824e73db353b377b4eca485 --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f583eaab80e1e5d848a13067d25fb11066dc40d86d00d10af1fd6e258d8aa15 +size 1950158 diff --git a/dresser/sim/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd91c1d8906af59e2a8bd9433f3a78f549fcd623 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:24303e98772124ad7e28326b0bad403266031c5d0e833047f04ca1e6d8f65ef8 +size 651516 diff --git a/dresser/sim/chunk_003/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc1655f68ceff53623bd2d08c3289042a8df12aa --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:997780001682eb520ec69f59cb744eba9216b0a009997d880178f6737cf5b86b +size 969831 diff --git a/dresser/sim/chunk_003/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..31e4c074c096430bac425a114592941ad94c96e3 --- /dev/null +++ b/dresser/sim/chunk_003/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:a92775d5eb7955b8a9250ca99c4b4f7241890c3d18d7633ea0c00a31f9199bea +size 626703 diff --git a/dresser/sim/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59e6764b210d9c8b183dc2e71275cf4089dc5e58 --- /dev/null +++ b/dresser/sim/chunk_003/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:f04877af8cb372c3f00d29471a2f2dca8ff2822fa85d6edfbc3aea05e90e06d9 +size 529890 diff --git a/dresser/sim/chunk_003/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5067766b47cf2e1e1a05a0d11f9a5c9aae169e6a --- /dev/null +++ b/dresser/sim/chunk_003/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:aae05f9f4be168972dddbc7b03ffd99a0a0c19e9416b3c791280d137e596dfa5 +size 632716 diff --git a/dresser/sim/chunk_003/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa1c5a2d5608063aa062fbfe1d93f18e8e269991 --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37bb408fb8ec9b5fbe499baa867953db4173df1dd5d52d7a72547e4585a5a03c +size 890636 diff --git a/dresser/sim/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ede07675ace31fa5b7e7899fe3a9ea2257e1970b --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:6d6b4372a0a408de950647e49ac21a296a1e3e7049c27d9cd4e4b47134fd9644 +size 152128 diff --git a/dresser/sim/chunk_003/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d8a2e35145abdd376b1eb50d4ec685cb77288e35 --- /dev/null +++ b/dresser/sim/chunk_003/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:a28bd2358449edd5a8f2eb8e671441a721907363fd6ad579f1655a4ccf4044c6 +size 665755 diff --git a/dresser/sim/chunk_003/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..147d67f5036571ed8efcfd40511281602a5f2172 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:4e3dd9c6eaa0b2df33c8c1776dcafdf3ee7162d1a85a7152c09dbcbe8fc7aba6 +size 435058 diff --git a/dresser/sim/chunk_003/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a72d072db1ee6dc2f7247f73d9f4730ff153814f --- /dev/null +++ b/dresser/sim/chunk_003/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:cb183e7d4683fad12334a31fd071b7d586002b52e28eb6c6c215b08c2ccf01a6 +size 363603 diff --git a/dresser/sim/chunk_003/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..68353ccc82b1a3ca17ec9285e50c58bcf3452407 --- /dev/null +++ b/dresser/sim/chunk_003/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:ef5263ca3371df35caed52acb089c46c5771afde92c3c34a23b825c7e464d967 +size 517319 diff --git a/dresser/sim/chunk_003/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ba5abfe04318b768726924793e1d8c508b9aedc --- /dev/null +++ b/dresser/sim/chunk_003/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49942d588542de14a250bf1b4fef74b65b6fabfed2230e6fb1acc23b3322cdfe +size 552953 diff --git a/dresser/sim/chunk_003/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a6916e00bfebc3c6bf0369d94dd53cdc54780c1 --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:4995c83be39448c593d6d570c5b044a8d7ad9de07d22b8bee546289fc3c97b68 +size 99051 diff --git a/dresser/sim/chunk_003/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a283f235424a087c8575c8dff01b18b34345745f --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:3489232a8cb3d7b992b5a21872f1807b1c20367a3ab186dcaba60b8568580be6 +size 421720 diff --git a/dresser/sim/chunk_003/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45f37e7d07adf162de88eda66007b479e77f0793 --- /dev/null +++ b/dresser/sim/chunk_003/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:a82a1e2aae676e6f35851bea96ad8955e3860f4d591337cfd6c2daee275d5e3e +size 511828 diff --git a/dresser/sim/chunk_003/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..26f77271546b9a643f23e7acd0bcf67b799ec77d --- /dev/null +++ b/dresser/sim/chunk_003/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 sha256:6c46c6843c3e05eacaba34aa662e7fff14c1675d8d05afecf7def10f0fa2ec77 +size 410988 diff --git a/dresser/sim/chunk_003/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d367409cd3e634db14c9dab1c3480305f7e1eb0e --- /dev/null +++ b/dresser/sim/chunk_003/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:d4f7b944ce53bd7c1a42fe8ef237af5b50422d4c85a2316fbecf7905e5f9103a +size 638740 diff --git a/dresser/sim/chunk_003/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ab7c2af274f7937851da8d14b1899f9528c9ec00 --- /dev/null +++ b/dresser/sim/chunk_003/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:b6a5796990ef5cfdb4737faf7d9e86b882443697485b72f06b31a6010c0577d6 +size 1349792 diff --git a/dresser/sim/chunk_003/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f6f20a3c92ca6bd94faec43fa6630a4d0601d8de --- /dev/null +++ b/dresser/sim/chunk_003/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:b269f1ebf861172f26dd220c0183857b751db48be80a677c1ca55e5a6ca12fc5 +size 218757 diff --git a/dresser/sim/chunk_003/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_003/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dda64c135a0a86120e57d2b2d9bef30bc50b85d7 --- /dev/null +++ b/dresser/sim/chunk_003/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:f938cfe4c492f6a3db5a7f018b737b1e4d9ac24689ad4ab172880de0481df8f5 +size 685254 diff --git a/dresser/sim/chunk_003/experiment_config_20260518_133641.pkl b/dresser/sim/chunk_003/experiment_config_20260518_133641.pkl new file mode 100644 index 0000000000000000000000000000000000000000..bf41c69281c7400b711c0be46703a6aa941d39e3 --- /dev/null +++ b/dresser/sim/chunk_003/experiment_config_20260518_133641.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c05763b70b0fd9eb9bca5ab42065dd4aebb2d8b85967c5e384e87b4fccd99b7 +size 8144 diff --git a/dresser/sim/chunk_003/running_log.log b/dresser/sim/chunk_003/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..17f738ffa92316b9115004f4adde731825ca8615 --- /dev/null +++ b/dresser/sim/chunk_003/running_log.log @@ -0,0 +1,4152 @@ +05/18 13:36:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 13:36:41 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 13:36:41 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 13:36:41 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_003'), + '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': 20003, + '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 13:36:41 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 13:36:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:36:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:36:41 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:36:44 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:36:44 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:36:44 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:36:44 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:36:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:36:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:36:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:36:44 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 13:36:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:36:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155640m [env.py: 870] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:36:44 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 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=25.0ms, retries=264.9ms, total=289.9ms [env.py: 1105] +05/18 13:36:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:36:45 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:36:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:36:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:36:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:36:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:36:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:36:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:36:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115599m [env.py: 870] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:36:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24182102 -1.06499774 -0.11559876] yaw=-62.8deg [env.py: 1019] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:36:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=231.9ms [env.py: 1075] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.065, -0.116) [env.py: 1079] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/18 13:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:36:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:36:46 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:37:24 INFO: [Worker 0] Warmed up parallel IK solver in 37.512s [base_object_manipulation_planner_policy.py: 377] +05/18 13:37:24 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 13:37:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:37:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:37:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.202s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:37:31 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.941[m] 66.333[deg] [grasp_sample.py: 596] +05/18 13:37:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:37:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:37:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:37:33 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 13:39:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:39:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:39:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:40:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:40:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 13:40:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:40:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:41:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:41:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 13:41:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.18s (batch: 4.33s, save: 12.85s) [pipeline.py: 300] +05/18 13:41:06 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s: + episode_total: mean=132.18s, total=264.37s, count=2, min=3874.5ms, max=260495.1ms + sensor_polling: mean=485.4ms, total=145.63s, count=300, min=433.1ms, max=582.2ms + save_trajectories: mean=12.85s, total=12.85s, count=1, min=12854.8ms, max=12854.8ms + physics_step: mean=34.9ms, total=10.48s, count=300, min=25.7ms, max=47.9ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4325.2ms, max=4325.2ms + task_sampling_failed: mean=3.87s, total=3.87s, count=1, min=3874.5ms, max=3874.5ms + scene_load: mean=3.57s, total=3.57s, count=1, min=3571.6ms, max=3571.6ms + scene_env_create: mean=1.83s, total=1.83s, count=1, min=1827.5ms, max=1827.5ms + scene_compile: mean=1.54s, total=1.54s, count=1, min=1540.9ms, max=1540.9ms + compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1056.5ms, max=1056.5ms + task_specific_sample: mean=439.0ms, total=878.0ms, count=2, min=297.3ms, max=580.6ms + task_sampling: mean=583.5ms, total=583.5ms, count=1, min=583.5ms, max=583.5ms + compile_xml_load: mean=398.9ms, total=398.9ms, count=1, min=398.9ms, max=398.9ms + scene_init: mean=149.0ms, total=149.0ms, count=1, min=149.0ms, max=149.0ms + compile_aux_objects: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms + compile_aux_policy_objects: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms + scene_asset_install: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms + asset_install_objects: mean=12.0ms, total=12.0ms, count=1, min=12.0ms, max=12.0ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.5ms, max=1.6ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=617.9us, total=1.2ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:41:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:41:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:41:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:41:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:41:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:41:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:41:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106309m [env.py: 870] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:41:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4147097 -1.05124389 -0.10630935] yaw=-44.8deg [env.py: 1019] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63172298 -0.90113334 -0.10630935] yaw=-42.1deg [env.py: 1019] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:41:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=266.1ms, total=266.1ms [env.py: 1075] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -1.051, -0.106) [env.py: 1079] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/18 13:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:41:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:41:08 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:41:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 13:41:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:41:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:41:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:41:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.091s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:41:14 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.659[m] 104.321[deg] [grasp_sample.py: 596] +05/18 13:41:16 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:41:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:41:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:41:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:41:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:41:17 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 13:41:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:41:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119027m [env.py: 870] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:41:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.73966165 -0.92582599 -0.11902738] yaw=-66.1deg [env.py: 1019] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52685557 -0.95604945 -0.11902738] yaw=-35.3deg [env.py: 1019] +05/18 13:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=268.0ms, total=268.0ms [env.py: 1075] +05/18 13:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.740, -0.926, -0.119) [env.py: 1079] +05/18 13:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/18 13:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/18 13:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:41:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:41:18 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:41:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 13:41:18 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 13:41:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:41:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.524s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:41:20 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.876[m] 71.643[deg] [grasp_sample.py: 596] +05/18 13:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:41:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:41:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:41:21 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 13:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:42:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:42:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:42:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:42:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:42:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.164s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:42:11 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.651[m] 51.010[deg] [grasp_sample.py: 596] +05/18 13:42:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:42:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:42:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:42:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:42:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:42:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:42:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.329s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:42:36 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.638[m] 51.164[deg] [grasp_sample.py: 596] +05/18 13:42:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:42:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:42:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:42:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:42:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:42:55 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 13:42:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:42:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.341s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:00 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.638[m] 51.164[deg] [grasp_sample.py: 596] +05/18 13:43:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:43:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:43:20 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:43:20 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.24s: + episode_total: mean=65.15s, total=130.29s, count=2, min=8021.9ms, max=122271.1ms + sensor_polling: mean=476.4ms, total=40.50s, count=85, min=437.7ms, max=546.1ms + physics_step: mean=29.1ms, total=2.47s, count=85, min=20.7ms, max=36.4ms + task_sampling: mean=617.7ms, total=1.24s, count=2, min=612.3ms, max=623.2ms + task_specific_sample: mean=613.4ms, total=1.23s, count=2, min=607.8ms, max=619.1ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.0ms, max=3.0ms + mj_forward_sync: mean=695.1us, total=1.4ms, count=2, min=0.6ms, max=0.8ms + policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:43:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:21 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 13:43:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:21 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 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132359m [env.py: 870] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=241.9ms, total=241.9ms [env.py: 1105] +05/18 13:43:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:43:21 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:23 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 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150685m [env.py: 870] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.7888878 -0.77101875 -0.15068452] yaw=-69.2deg [env.py: 1019] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=257.3ms, total=257.4ms [env.py: 1075] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.789, -0.771, -0.151) [env.py: 1079] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg [env.py: 1082] +05/18 13:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:23 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:24 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 13:43:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.179s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.619[m] 85.498[deg] [grasp_sample.py: 596] +05/18 13:43:30 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:43:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:31 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 13:43:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:31 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 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146578m [env.py: 870] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33469856 -1.06459711 -0.14657759] yaw=-61.1deg [env.py: 1019] +05/18 13:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=246.1ms, total=246.1ms [env.py: 1075] +05/18 13:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.065, -0.147) [env.py: 1079] +05/18 13:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/18 13:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/18 13:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:32 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.672s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:37 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.622[m] 106.178[deg] [grasp_sample.py: 596] +05/18 13:43:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:38 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 13:44:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:44:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:46:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 13:46:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:46:17 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/18 13:46:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:46:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 13:46:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.76s (batch: 4.10s, save: 10.66s) [pipeline.py: 300] +05/18 13:46:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.16s: + episode_total: mean=62.88s, total=188.63s, count=3, min=254.7ms, max=181359.2ms + sensor_polling: mean=485.0ms, total=125.14s, count=258, min=454.8ms, max=575.1ms + save_trajectories: mean=10.66s, total=10.66s, count=1, min=10659.4ms, max=10659.4ms + physics_step: mean=34.7ms, total=8.95s, count=258, min=25.0ms, max=44.4ms + save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4101.7ms, max=4101.7ms + task_specific_sample: mean=465.9ms, total=1.40s, count=3, min=248.6ms, max=583.1ms + task_sampling: mean=578.0ms, total=1.16s, count=2, min=569.6ms, max=586.5ms + task_sampling_failed: mean=254.6ms, total=254.6ms, count=1, min=254.6ms, max=254.6ms + scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.5ms, max=2.1ms + mj_forward_sync: mean=601.4us, total=1.8ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:34 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 13:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176876m [env.py: 870] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19691453 -1.05640943 -0.17687634] yaw=-23.9deg [env.py: 1019] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63008185 -0.69807796 -0.17687634] yaw=-84.8deg [env.py: 1019] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39247704 -0.88208652 -0.17687634] yaw=-43.3deg [env.py: 1019] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.8ms, total=198.9ms [env.py: 1075] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.056, -0.177) [env.py: 1079] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.9 deg [env.py: 1082] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:35 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.410s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:42 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.885[m] 100.281[deg] [grasp_sample.py: 596] +05/18 13:46:44 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109947m [env.py: 870] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28608286 -1.19260113 -0.1099474 ] yaw=-42.6deg [env.py: 1019] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34614476 -1.04946504 -0.1099474 ] yaw=-72.5deg [env.py: 1019] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14718477 -1.44388093 -0.1099474 ] yaw=-42.3deg [env.py: 1019] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=246.1ms, total=246.1ms [env.py: 1075] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.193, -0.110) [env.py: 1079] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg [env.py: 1082] +05/18 13:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:46 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:46 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 13:46:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.046s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:56 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.628[m] 87.438[deg] [grasp_sample.py: 596] +05/18 13:46:58 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:59 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 13:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126609m [env.py: 870] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30362412 -0.95662593 -0.1266091 ] yaw=-22.6deg [env.py: 1019] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60027481 -0.76326722 -0.1266091 ] yaw=-43.5deg [env.py: 1019] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=267.2ms, total=267.3ms [env.py: 1075] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -0.957, -0.127) [env.py: 1079] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.6 deg [env.py: 1082] +05/18 13:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:00 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.986s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:07 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.777[m] 82.634[deg] [grasp_sample.py: 596] +05/18 13:47:09 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123335m [env.py: 870] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.87836715 -0.7065791 -0.12333475] yaw=-95.6deg [env.py: 1019] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03421284 -1.38055579 -0.12333475] yaw=-17.1deg [env.py: 1019] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16808714 -1.22371776 -0.12333475] yaw=-26.2deg [env.py: 1019] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.2ms, total=202.3ms [env.py: 1075] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.878, -0.707, -0.123) [env.py: 1079] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.6 deg [env.py: 1082] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:11 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 43.168s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:54 INFO: [Worker 0] Feasible grasp found 319 (originally 12): w/ 1.121[m] 64.189[deg] [grasp_sample.py: 596] +05/18 13:47:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:50:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:50:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:50:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.145s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:50:25 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.118[m] 35.560[deg] [grasp_sample.py: 596] +05/18 13:50:27 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:50:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:28 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 13:50:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189034m [env.py: 870] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03630729 -1.2679726 -0.1890342 ] yaw=-31.2deg [env.py: 1019] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74282586 -0.71308615 -0.1890342 ] yaw=-98.4deg [env.py: 1019] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:50:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.7ms, total=262.8ms [env.py: 1075] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.036, -1.268, -0.189) [env.py: 1079] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.2 deg [env.py: 1082] +05/18 13:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:50:29 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:50:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 13:50:29 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 13:50:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.902s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:50:34 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:50:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135186m [env.py: 870] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29199951 -1.21933747 -0.13518623] yaw=-15.0deg [env.py: 1019] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.7ms, total=253.7ms [env.py: 1075] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -1.219, -0.135) [env.py: 1079] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.0 deg [env.py: 1082] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:50:36 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:50:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 13:50:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:50:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.516s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:50:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.617[m] 96.554[deg] [grasp_sample.py: 596] +05/18 13:50:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:50:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:50:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:51:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:51:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:56 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:53:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 13:53:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:53:49 INFO: [Worker 0] Preparing episode data: 257 timesteps [save_utils.py: 278] +05/18 13:54:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:54:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 13:54:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 31.60s (batch: 12.31s, save: 19.28s) [pipeline.py: 300] +05/18 13:54:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=3.47s: + episode_total: mean=76.51s, total=459.06s, count=6, min=5763.9ms, max=225202.8ms + sensor_polling: mean=483.5ms, total=228.21s, count=472, min=433.0ms, max=596.4ms + save_trajectories: mean=19.28s, total=19.28s, count=1, min=19283.9ms, max=19283.9ms + physics_step: mean=33.7ms, total=15.92s, count=472, min=25.1ms, max=46.0ms + save_batch_prep: mean=12.31s, total=12.31s, count=1, min=12314.7ms, max=12314.7ms + task_sampling: mean=578.0ms, total=3.47s, count=6, min=544.5ms, max=604.9ms + task_specific_sample: mean=574.6ms, total=3.45s, count=6, min=540.6ms, max=601.9ms + scene_randomize: mean=1.7ms, total=10.3ms, count=6, min=1.5ms, max=2.5ms + mj_forward_sync: mean=613.7us, total=3.7ms, count=6, min=0.6ms, max=0.6ms + policy_setup: mean=18.3us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:54:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:54:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:22 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 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131790m [env.py: 870] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31358277 -1.13699729 -0.13179013] yaw=-47.9deg [env.py: 1019] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26882971 -1.03489296 -0.13179013] yaw=-18.0deg [env.py: 1019] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.0ms, total=238.0ms [env.py: 1075] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.137, -0.132) [env.py: 1079] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/18 13:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.657s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:30 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.643[m] 104.973[deg] [grasp_sample.py: 596] +05/18 13:54:31 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:33 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 13:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106914m [env.py: 870] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.6916175 -0.76273262 -0.10691414] yaw=-63.4deg [env.py: 1019] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21624519 -1.10025901 -0.10691414] yaw=-49.0deg [env.py: 1019] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39464265 -0.89094066 -0.10691414] yaw=-60.7deg [env.py: 1019] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.5ms, total=179.6ms [env.py: 1075] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.692, -0.763, -0.107) [env.py: 1079] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/18 13:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:33 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:33 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 13:54:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.148s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.765[m] 67.406[deg] [grasp_sample.py: 596] +05/18 13:54:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:38 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 13:55:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:56:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:06 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:59:21 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 13:59:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:59:21 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/18 14:00:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:00:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:00:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 44.07s (batch: 27.35s, save: 16.73s) [pipeline.py: 300] +05/18 14:00:05 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.01s: + episode_total: mean=170.93s, total=341.86s, count=2, min=9034.7ms, max=332829.6ms + sensor_polling: mean=475.1ms, total=135.89s, count=286, min=411.9ms, max=859.2ms + save_batch_prep: mean=27.35s, total=27.35s, count=1, min=27347.8ms, max=27347.8ms + save_trajectories: mean=16.73s, total=16.73s, count=1, min=16726.3ms, max=16726.3ms + physics_step: mean=32.6ms, total=9.32s, count=286, min=20.7ms, max=39.1ms + task_sampling: mean=504.6ms, total=1.01s, count=2, min=466.8ms, max=542.4ms + task_specific_sample: mean=501.0ms, total=1.00s, count=2, min=463.7ms, max=538.3ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms + mj_forward_sync: mean=512.7us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.7us, 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 14:00:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:07 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 14:00:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134179m [env.py: 870] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26974998 -0.95694284 -0.13417916] yaw=-54.7deg [env.py: 1019] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09632385 -1.12882043 -0.13417916] yaw=-60.0deg [env.py: 1019] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=242.8ms, total=242.9ms [env.py: 1075] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -0.957, -0.134) [env.py: 1079] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/18 14:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:07 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.872s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:00:13 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:00:13 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 14:00:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:14 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 14:00:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:14 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 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102463m [env.py: 870] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52819583 -0.83637625 -0.10246325] yaw=-36.8deg [env.py: 1019] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.70315122 -0.70707449 -0.10246325] yaw=-78.9deg [env.py: 1019] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.1ms, total=234.1ms [env.py: 1075] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.836, -0.102) [env.py: 1079] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:15 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:15 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 14:00:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.668s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:26 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.851[m] 113.423[deg] [grasp_sample.py: 596] +05/18 14:00:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:00:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:29 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 14:00:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:29 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 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169212m [env.py: 870] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19812638 -1.20110136 -0.16921167] yaw=-35.2deg [env.py: 1019] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=259.5ms, total=259.6ms [env.py: 1075] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.201, -0.169) [env.py: 1079] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/18 14:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:29 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:31 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.671[m] 85.205[deg] [grasp_sample.py: 596] +05/18 14:00:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:33 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 14:01:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:01:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:58 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:03:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:03:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:03:29 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/18 14:03:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:03:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:03:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.24s (batch: 5.58s, save: 11.66s) [pipeline.py: 300] +05/18 14:03:46 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.75s: + episode_total: mean=72.18s, total=216.54s, count=3, min=5743.4ms, max=197452.9ms + sensor_polling: mean=487.7ms, total=133.15s, count=273, min=459.1ms, max=610.3ms + save_trajectories: mean=11.66s, total=11.66s, count=1, min=11662.4ms, max=11662.4ms + physics_step: mean=35.8ms, total=9.76s, count=273, min=25.6ms, max=50.4ms + save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5575.1ms, max=5575.1ms + task_sampling: mean=584.7ms, total=1.75s, count=3, min=565.6ms, max=602.4ms + task_specific_sample: mean=581.0ms, total=1.74s, count=3, min=562.1ms, max=599.3ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.5ms, max=3.1ms + mj_forward_sync: mean=634.8us, total=1.9ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=15.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:03:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:03:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192066m [env.py: 870] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04153882 -1.23562098 -0.19206592] yaw=-55.9deg [env.py: 1019] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.5ms, total=247.5ms [env.py: 1075] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.042, -1.236, -0.192) [env.py: 1079] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/18 14:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:48 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:03:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.873s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:03:54 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:03:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:55 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 14:03:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185839m [env.py: 870] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=237.3ms, total=237.3ms [env.py: 1105] +05/18 14:03:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:03:55 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 14:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:57 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 14:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:57 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 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131599m [env.py: 870] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.72289101 -0.8156124 -0.13159917] yaw=-92.2deg [env.py: 1019] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.89603552 -0.82220553 -0.13159917] yaw=-77.8deg [env.py: 1019] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.80217069 -0.80956158 -0.13159917] yaw=-76.4deg [env.py: 1019] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=254.2ms, total=254.3ms [env.py: 1075] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.723, -0.816, -0.132) [env.py: 1079] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.2 deg [env.py: 1082] +05/18 14:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:57 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:03:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.772s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:10 INFO: [Worker 0] Feasible grasp found 377 (originally 70): w/ 0.844[m] 72.602[deg] [grasp_sample.py: 596] +05/18 14:04:12 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:04:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:14 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 14:04:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:14 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 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149725m [env.py: 870] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.84387442 -0.91859413 -0.14972502] yaw=-74.0deg [env.py: 1019] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09825945 -1.26873344 -0.14972502] yaw=-45.8deg [env.py: 1019] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=270.2ms, total=270.3ms [env.py: 1075] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.844, -0.919, -0.150) [env.py: 1079] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg [env.py: 1082] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:14 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.288s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:17 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.589[m] 88.316[deg] [grasp_sample.py: 596] +05/18 14:04:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:18 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 14:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:05:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:58 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:07:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:07:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:07:27 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/18 14:07:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:07:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:07:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.31s (batch: 5.11s, save: 11.19s) [pipeline.py: 300] +05/18 14:07:44 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=1.77s: + episode_total: mean=57.96s, total=231.84s, count=4, min=248.9ms, max=210440.7ms + sensor_polling: mean=489.2ms, total=126.72s, count=259, min=464.4ms, max=598.3ms + save_trajectories: mean=11.19s, total=11.19s, count=1, min=11193.9ms, max=11193.9ms + physics_step: mean=35.5ms, total=9.21s, count=259, min=26.2ms, max=47.7ms + save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5113.2ms, max=5113.2ms + task_specific_sample: mean=501.6ms, total=2.01s, count=4, min=243.8ms, max=615.7ms + task_sampling: mean=590.7ms, total=1.77s, count=3, min=565.8ms, max=618.8ms + task_sampling_failed: mean=248.8ms, total=248.8ms, count=1, min=248.8ms, max=248.8ms + scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.5ms, max=2.4ms + mj_forward_sync: mean=618.9us, total=2.5ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=16.1us, total=0.0ms, 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 14:07:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:45 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 14:07:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138861m [env.py: 870] +05/18 14:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=435.8ms, total=435.8ms [env.py: 1105] +05/18 14:07:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:07:46 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:07:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:47 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 14:07:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113119m [env.py: 870] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.117626 -1.14735768 -0.11311935] yaw=-29.1deg [env.py: 1019] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20342388 -1.06811295 -0.11311935] yaw=-68.2deg [env.py: 1019] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15018494 -1.37154151 -0.11311935] yaw=3.5deg [env.py: 1019] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=277.6ms, total=277.6ms [env.py: 1075] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.118, -1.147, -0.113) [env.py: 1079] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.1 deg [env.py: 1082] +05/18 14:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/18 14:07:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:48 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:48 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 14:07:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.914s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:07:53 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:07:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:55 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 14:07:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161647m [env.py: 870] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44336731 -0.78508174 -0.16164723] yaw=-45.7deg [env.py: 1019] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28841494 -1.09013639 -0.16164723] yaw=-46.3deg [env.py: 1019] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16436113 -1.31935242 -0.16164723] yaw=-36.8deg [env.py: 1019] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.3ms, total=248.3ms [env.py: 1075] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -0.785, -0.162) [env.py: 1079] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/18 14:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:55 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:55 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 14:07:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.941s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:08:01 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:02 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 14:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:02 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 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103206m [env.py: 870] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.88082417 -0.63850522 -0.10320553] yaw=-112.0deg [env.py: 1019] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=266.8ms, total=266.8ms [env.py: 1075] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.881, -0.639, -0.103) [env.py: 1079] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.0 deg [env.py: 1082] +05/18 14:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:03 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:03 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 14:08:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.863s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:08:08 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:08:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:09 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 14:08:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:09 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 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108044m [env.py: 870] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50547543 -0.77603527 -0.10804425] yaw=-70.6deg [env.py: 1019] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.74964675 -0.75456528 -0.10804425] yaw=-83.1deg [env.py: 1019] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13902104 -1.30356012 -0.10804425] yaw=-27.7deg [env.py: 1019] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=130.7ms, total=130.7ms [env.py: 1075] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.776, -0.108) [env.py: 1079] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/18 14:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:10 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:10 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 14:08:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.181s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.984s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:08:15 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:08:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:17 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 14:08:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116096m [env.py: 870] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68705938 -0.89069451 -0.11609571] yaw=-64.7deg [env.py: 1019] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55381291 -0.86105239 -0.11609571] yaw=-82.4deg [env.py: 1019] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.9ms, total=266.9ms [env.py: 1075] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.687, -0.891, -0.116) [env.py: 1079] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/18 14:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:17 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:17 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 14:08:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.652s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:08:34 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.719[m] 84.261[deg] [grasp_sample.py: 596] +05/18 14:08:36 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:08:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:38 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 14:08:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:38 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 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164085m [env.py: 870] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=261.2ms, total=261.3ms [env.py: 1105] +05/18 14:08:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:08:38 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:08:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:39 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 14:08:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173316m [env.py: 870] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73121466 -0.83533662 -0.17331577] yaw=-56.7deg [env.py: 1019] +05/18 14:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=263.2ms, total=263.2ms [env.py: 1075] +05/18 14:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.731, -0.835, -0.173) [env.py: 1079] +05/18 14:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/18 14:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/18 14:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:40 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:40 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 14:08:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.497s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:08:45 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.608[m] 95.194[deg] [grasp_sample.py: 596] +05/18 14:08:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:08:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:08:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:09:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:10:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:11 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:12:42 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:12:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:12:42 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/18 14:13:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:13:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:13:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 51.32s (batch: 26.71s, save: 24.61s) [pipeline.py: 300] +05/18 14:13:34 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=3.55s: + episode_total: mean=42.28s, total=338.21s, count=8, min=274.4ms, max=294895.7ms + sensor_polling: mean=492.3ms, total=128.49s, count=261, min=457.4ms, max=613.3ms + save_batch_prep: mean=26.71s, total=26.71s, count=1, min=26707.7ms, max=26707.7ms + save_trajectories: mean=24.61s, total=24.61s, count=1, min=24612.8ms, max=24612.8ms + physics_step: mean=35.5ms, total=9.27s, count=261, min=26.1ms, max=41.4ms + task_specific_sample: mean=530.2ms, total=4.24s, count=8, min=268.6ms, max=641.7ms + task_sampling: mean=591.4ms, total=3.55s, count=6, min=473.4ms, max=645.2ms + task_sampling_failed: mean=362.7ms, total=725.3ms, count=2, min=274.4ms, max=450.9ms + scene_randomize: mean=1.9ms, total=14.8ms, count=8, min=1.4ms, max=3.3ms + mj_forward_sync: mean=667.0us, total=5.3ms, count=8, min=0.6ms, max=0.8ms + policy_setup: mean=15.0us, total=0.1ms, count=6, 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 14:13:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:36 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 14:13:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119440m [env.py: 870] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27002642 -1.29628061 -0.11944021] yaw=-47.2deg [env.py: 1019] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54643515 -0.91511347 -0.11944021] yaw=-42.0deg [env.py: 1019] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68267805 -0.80285166 -0.11944021] yaw=-94.8deg [env.py: 1019] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=182.0ms [env.py: 1075] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.296, -0.119) [env.py: 1079] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:36 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:13:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.930s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:41 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.694[m] 67.473[deg] [grasp_sample.py: 596] +05/18 14:13:43 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:13:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:45 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 14:13:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:45 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 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180450m [env.py: 870] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.01203574 -1.27237998 -0.18045019] yaw=-15.3deg [env.py: 1019] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34434098 -0.81797077 -0.18045019] yaw=-36.2deg [env.py: 1019] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=260.3ms, total=260.4ms [env.py: 1075] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.012, -1.272, -0.180) [env.py: 1079] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.3 deg [env.py: 1082] +05/18 14:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:45 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:46 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 14:13:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.917s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:13:51 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:13:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:52 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 14:13:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:52 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 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153925m [env.py: 870] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.78147547 -0.9117779 -0.15392511] yaw=-72.6deg [env.py: 1019] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=264.0ms, total=264.0ms [env.py: 1075] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.781, -0.912, -0.154) [env.py: 1079] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/18 14:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:53 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:53 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 14:13:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.781s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:55 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.837[m] 75.893[deg] [grasp_sample.py: 596] +05/18 14:13:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:14:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:14:40 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 14:14:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.458s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:46 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.618[m] 52.659[deg] [grasp_sample.py: 596] +05/18 14:14:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:15:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:15:04 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 14:15:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.795s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:08 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.611[m] 52.189[deg] [grasp_sample.py: 596] +05/18 14:15:10 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:12 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 14:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:12 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 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121592m [env.py: 870] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.80851894 -0.81373754 -0.12159155] yaw=-81.0deg [env.py: 1019] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=253.3ms, total=253.4ms [env.py: 1075] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.809, -0.814, -0.122) [env.py: 1079] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.0 deg [env.py: 1082] +05/18 14:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:12 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:12 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 14:15:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.182s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.625[m] 85.012[deg] [grasp_sample.py: 596] +05/18 14:15:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:19 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 14:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:15 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 14:16:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:17 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.235[m] 27.062[deg] [grasp_sample.py: 596] +05/18 14:16:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:33 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 14:16:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.220s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.230[m] 26.332[deg] [grasp_sample.py: 596] +05/18 14:16:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:51 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 14:16:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.251s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:52 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.230[m] 26.334[deg] [grasp_sample.py: 596] +05/18 14:16:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:17:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:17:09 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:17:09 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=2.33s: + episode_total: mean=52.17s, total=208.68s, count=4, min=5812.0ms, max=117167.9ms + sensor_polling: mean=463.4ms, total=86.20s, count=186, min=417.5ms, max=564.5ms + physics_step: mean=30.3ms, total=5.64s, count=186, min=18.5ms, max=41.4ms + task_sampling: mean=581.8ms, total=2.33s, count=4, min=546.1ms, max=599.8ms + task_specific_sample: mean=578.2ms, total=2.31s, count=4, min=541.7ms, max=596.2ms + scene_randomize: mean=2.0ms, total=8.1ms, count=4, min=1.5ms, max=3.0ms + mj_forward_sync: mean=598.2us, total=2.4ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=16.0us, 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 14:17:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:10 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 14:17:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191961m [env.py: 870] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39876267 -1.12665168 -0.19196095] yaw=-23.7deg [env.py: 1019] +05/18 14:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=278.4ms, total=278.5ms [env.py: 1075] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -1.127, -0.192) [env.py: 1079] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.7 deg [env.py: 1082] +05/18 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/18 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:11 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:11 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 14:17:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.514s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.930[m] 67.451[deg] [grasp_sample.py: 596] +05/18 14:17:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:19 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 14:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:19:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:20:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:20:35 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 14:20:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.296s, found 89 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:36 INFO: [Worker 0] Feasibility-checked 89 grasps in 0.900s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:36 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.035[m] 4.416[deg] [grasp_sample.py: 596] +05/18 14:20:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:37 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:23:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:23:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:23:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:23:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:23:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 37.68s (batch: 25.21s, save: 12.47s) [pipeline.py: 300] +05/18 14:23:38 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.65s: + episode_total: mean=387.32s, total=387.32s, count=1, min=387318.4ms, max=387318.4ms + sensor_polling: mean=553.6ms, total=166.08s, count=300, min=397.5ms, max=900.5ms + save_batch_prep: mean=25.21s, total=25.21s, count=1, min=25209.0ms, max=25209.0ms + save_trajectories: mean=12.47s, total=12.47s, count=1, min=12474.5ms, max=12474.5ms + physics_step: mean=31.3ms, total=9.39s, count=300, min=21.6ms, max=71.6ms + task_sampling: mean=653.4ms, total=653.4ms, count=1, min=653.4ms, max=653.4ms + task_specific_sample: mean=649.2ms, total=649.2ms, count=1, min=649.2ms, max=649.2ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=721.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:23:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:23:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:23:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:23:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:23:39 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 14:23:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:23:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172345m [env.py: 870] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:23:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77644076 -0.8059723 -0.17234459] yaw=-70.5deg [env.py: 1019] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58719959 -0.92451427 -0.17234459] yaw=-81.4deg [env.py: 1019] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29457191 -1.25692455 -0.17234459] yaw=-29.9deg [env.py: 1019] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:23:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.9ms, total=187.9ms [env.py: 1075] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.776, -0.806, -0.172) [env.py: 1079] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.5 deg [env.py: 1082] +05/18 14:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:23:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:23:40 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:23:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:23:40 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 14:23:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:23:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.547s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:23:45 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.628[m] 73.803[deg] [grasp_sample.py: 596] +05/18 14:23:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:23:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:23:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:46 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 14:24:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:25:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:25:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:25:15 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 14:25:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.192s, found 302 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 35.420s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:51 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.071[m] 12.452[deg] [grasp_sample.py: 596] +05/18 14:25:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:25:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:25:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:26:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:26:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:26:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:26:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 340 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 38.432s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.053[m] 5.565[deg] [grasp_sample.py: 596] +05/18 14:26:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:27:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:27:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:27:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:15 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:28:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:28:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:28:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:29:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:29:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:29:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 18.50s (batch: 5.95s, save: 12.55s) [pipeline.py: 300] +05/18 14:29:09 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.53s: + episode_total: mean=329.49s, total=329.49s, count=1, min=329487.3ms, max=329487.3ms + sensor_polling: mean=493.3ms, total=147.99s, count=300, min=448.6ms, max=636.5ms + save_trajectories: mean=12.55s, total=12.55s, count=1, min=12550.2ms, max=12550.2ms + physics_step: mean=35.5ms, total=10.65s, count=300, min=23.0ms, max=41.5ms + save_batch_prep: mean=5.95s, total=5.95s, count=1, min=5949.0ms, max=5949.0ms + task_sampling: mean=529.1ms, total=529.1ms, count=1, min=529.1ms, max=529.1ms + task_specific_sample: mean=524.9ms, total=524.9ms, count=1, min=524.9ms, max=524.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=522.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:10 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 14:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199913m [env.py: 870] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34013676 -0.89774418 -0.19991263] yaw=-54.5deg [env.py: 1019] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26865531 -1.21895997 -0.19991263] yaw=-53.1deg [env.py: 1019] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=260.4ms, total=260.5ms [env.py: 1075] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -0.898, -0.200) [env.py: 1079] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/18 14:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:11 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:11 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 14:29:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.765s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:19 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.847[m] 130.992[deg] [grasp_sample.py: 596] +05/18 14:29:21 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [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=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, 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: -0.118877m [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: bearing -4.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.86715245 -0.74219256 -0.11887736] yaw=-80.1deg [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 3: bearing 177.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° 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=0.1ms, retries=262.3ms, total=262.4ms [env.py: 1075] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.867, -0.742, -0.119) [env.py: 1079] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.1 deg [env.py: 1082] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [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 14:29:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:23 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:23 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 14:29:23 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 0.142s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.069s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:47 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.982[m] 53.438[deg] [grasp_sample.py: 596] +05/18 14:29:49 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:50 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 14:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145534m [env.py: 870] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27836434 -1.26651672 -0.14553426] yaw=-37.0deg [env.py: 1019] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.5ms, total=254.5ms [env.py: 1075] +05/18 14:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.267, -0.146) [env.py: 1079] +05/18 14:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg [env.py: 1082] +05/18 14:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/18 14:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:51 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:51 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 14:29:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.588s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:06 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.697[m] 61.253[deg] [grasp_sample.py: 596] +05/18 14:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:30:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:30:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:07 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 14:31:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:31:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:33 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:33:05 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:33:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:33:05 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/18 14:33:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:33:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.63s (batch: 5.60s, save: 12.03s) [pipeline.py: 300] +05/18 14:33:24 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=1.79s: + episode_total: mean=83.52s, total=250.55s, count=3, min=10494.0ms, max=213260.0ms + sensor_polling: mean=487.9ms, total=134.17s, count=275, min=459.0ms, max=614.6ms + save_trajectories: mean=12.03s, total=12.03s, count=1, min=12029.8ms, max=12029.8ms + physics_step: mean=34.9ms, total=9.60s, count=275, min=25.2ms, max=39.9ms + save_batch_prep: mean=5.60s, total=5.60s, count=1, min=5597.8ms, max=5597.8ms + task_sampling: mean=596.5ms, total=1.79s, count=3, min=574.6ms, max=609.3ms + task_specific_sample: mean=592.8ms, total=1.78s, count=3, min=571.6ms, max=605.7ms + scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=3.0ms + mj_forward_sync: mean=612.4us, total=1.8ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=15.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:33:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:25 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 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100802m [env.py: 870] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29873849 -0.85393887 -0.10080209] yaw=-40.1deg [env.py: 1019] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.83573001 -0.71206197 -0.10080209] yaw=-81.9deg [env.py: 1019] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36541102 -1.12254615 -0.10080209] yaw=-40.9deg [env.py: 1019] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.0ms, total=158.0ms [env.py: 1075] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.854, -0.101) [env.py: 1079] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/18 14:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:26 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.932s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:31 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:32 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 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129991m [env.py: 870] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.65035633 -0.79672109 -0.12999072] yaw=-52.3deg [env.py: 1019] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=252.2ms, total=252.2ms [env.py: 1075] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.797, -0.130) [env.py: 1079] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:33 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:33 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 14:33:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.678s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:41 INFO: [Worker 0] Feasible grasp found 377 (originally 70): w/ 0.917[m] 83.813[deg] [grasp_sample.py: 596] +05/18 14:33:43 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:33:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139167m [env.py: 870] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58753387 -0.74071072 -0.13916705] yaw=-56.1deg [env.py: 1019] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=257.9ms, total=258.0ms [env.py: 1075] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -0.741, -0.139) [env.py: 1079] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/18 14:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:45 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.936s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:50 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:51 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 14:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185846m [env.py: 870] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31336196 -0.84043054 -0.18584603] yaw=-40.3deg [env.py: 1019] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35810673 -0.93913804 -0.18584603] yaw=-58.6deg [env.py: 1019] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32840923 -1.19502016 -0.18584603] yaw=-25.3deg [env.py: 1019] +05/18 14:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.3ms, total=240.4ms [env.py: 1075] +05/18 14:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.840, -0.186) [env.py: 1079] +05/18 14:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/18 14:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 14:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:52 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:52 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 14:33:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.855s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +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=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, 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: -0.152598m [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 -178.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.83914629 -0.85703182 -0.15259816] yaw=-84.1deg [env.py: 1019] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.79201355 -0.784143 -0.15259816] yaw=-65.0deg [env.py: 1019] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.69841184 -0.89649115 -0.15259816] yaw=-77.7deg [env.py: 1019] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=221.4ms, total=221.5ms [env.py: 1075] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.839, -0.857, -0.153) [env.py: 1079] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.1 deg [env.py: 1082] +05/18 14:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +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 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:59 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:59 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 14:33:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.097s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.736[m] 101.702[deg] [grasp_sample.py: 596] +05/18 14:34:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:03 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 14:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:34:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:34:35 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 14:34:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.773s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.645[m] 84.815[deg] [grasp_sample.py: 596] +05/18 14:34:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:34:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:34:56 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 14:34:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.823s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.645[m] 84.812[deg] [grasp_sample.py: 596] +05/18 14:34:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:35:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:35:17 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 14:35:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:35:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.777s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:35:19 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.645[m] 84.812[deg] [grasp_sample.py: 596] +05/18 14:35:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:35:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:35:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:35:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:35:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:35:39 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:35:39 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=2.80s: + episode_total: mean=25.57s, total=127.87s, count=5, min=5684.8ms, max=100251.1ms + sensor_polling: mean=511.1ms, total=30.67s, count=60, min=487.5ms, max=626.8ms + task_sampling: mean=559.3ms, total=2.80s, count=5, min=506.2ms, max=587.2ms + task_specific_sample: mean=556.0ms, total=2.78s, count=5, min=502.3ms, max=583.7ms + physics_step: mean=29.4ms, total=1.76s, count=60, min=20.8ms, max=38.8ms + scene_randomize: mean=1.7ms, total=8.5ms, count=5, min=1.5ms, max=2.5ms + mj_forward_sync: mean=580.5us, total=2.9ms, count=5, min=0.5ms, max=0.7ms + policy_setup: mean=16.3us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:35:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:40 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 14:35:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181527m [env.py: 870] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06962835 -1.26697922 -0.18152664] yaw=-1.4deg [env.py: 1019] +05/18 14:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:35:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=271.1ms, total=271.1ms [env.py: 1075] +05/18 14:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.070, -1.267, -0.182) [env.py: 1079] +05/18 14:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -1.4 deg [env.py: 1082] +05/18 14:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 14:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:35:41 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/18 14:35:41 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 14:35:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:35:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:35:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.882s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:35:46 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:35:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:35:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:48 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 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180047m [env.py: 870] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82339366 -0.81048763 -0.18004718] yaw=-91.6deg [env.py: 1019] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04779444 -1.31668268 -0.18004718] yaw=-18.5deg [env.py: 1019] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01032184 -1.25760836 -0.18004718] yaw=-3.9deg [env.py: 1019] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:35:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.3ms, total=148.3ms [env.py: 1075] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.823, -0.810, -0.180) [env.py: 1079] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.6 deg [env.py: 1082] +05/18 14:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:35:48 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:35:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:35:48 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 14:35:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:35:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:35:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.287s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:35:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.770[m] 115.628[deg] [grasp_sample.py: 596] +05/18 14:35:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:35:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:35:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:54 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 14:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:36:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:36:23 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 14:36:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.701[m] 100.131[deg] [grasp_sample.py: 596] +05/18 14:36:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:36:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:36:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:36:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.551s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.701[m] 100.130[deg] [grasp_sample.py: 596] +05/18 14:36:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:36:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:37:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:37:02 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 14:37:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.618s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.701[m] 100.130[deg] [grasp_sample.py: 596] +05/18 14:37:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:37:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:37:21 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:37:21 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=1.10s: + episode_total: mean=49.44s, total=98.89s, count=2, min=5756.7ms, max=93128.3ms + sensor_polling: mean=478.6ms, total=27.76s, count=58, min=430.8ms, max=565.4ms + physics_step: mean=27.3ms, total=1.58s, count=58, min=18.3ms, max=33.9ms + task_sampling: mean=549.6ms, total=1.10s, count=2, min=483.6ms, max=615.6ms + task_specific_sample: mean=546.2ms, total=1.09s, count=2, min=479.8ms, max=612.7ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.5ms, max=1.5ms + mj_forward_sync: mean=572.3us, total=1.1ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=14.4us, 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 14:37:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:22 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 14:37:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123334m [env.py: 870] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22048388 -0.99482384 -0.12333414] yaw=-41.9deg [env.py: 1019] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79463253 -0.74650417 -0.12333414] yaw=-85.9deg [env.py: 1019] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=249.4ms, total=249.5ms [env.py: 1075] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -0.995, -0.123) [env.py: 1079] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/18 14:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:23 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:23 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 14:37:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.871s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:29 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 14:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:29 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 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148001m [env.py: 870] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66981675 -0.90933823 -0.14800071] yaw=-66.0deg [env.py: 1019] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15195284 -1.27931634 -0.14800071] yaw=-12.5deg [env.py: 1019] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.1ms, total=244.2ms [env.py: 1075] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.670, -0.909, -0.148) [env.py: 1079] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/18 14:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/18 14:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:30 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:37:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.724s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:38 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.729[m] 139.881[deg] [grasp_sample.py: 596] +05/18 14:37:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:39:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:39:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:55 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:39:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:39:55 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 14:39:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.191s, found 235 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:56 INFO: [Worker 0] Feasibility-checked 235 grasps in 0.744s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:56 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.075[m] 1.382[deg] [grasp_sample.py: 596] +05/18 14:39:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:13 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:43:31 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:43:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:43:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:44:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:44:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:44:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 65.81s (batch: 42.03s, save: 23.77s) [pipeline.py: 300] +05/18 14:44:38 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.12s: + episode_total: mean=216.99s, total=433.98s, count=2, min=5686.5ms, max=428291.3ms + sensor_polling: mean=469.2ms, total=140.75s, count=300, min=427.5ms, max=632.0ms + save_batch_prep: mean=42.03s, total=42.03s, count=1, min=42030.8ms, max=42030.8ms + save_trajectories: mean=23.77s, total=23.77s, count=1, min=23774.4ms, max=23774.4ms + physics_step: mean=34.0ms, total=10.20s, count=300, min=23.5ms, max=51.0ms + task_sampling: mean=560.0ms, total=1.12s, count=2, min=551.7ms, max=568.3ms + task_specific_sample: mean=556.6ms, total=1.11s, count=2, min=548.2ms, max=565.1ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.4ms, max=1.7ms + mj_forward_sync: mean=565.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:44:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:39 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 14:44:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104297m [env.py: 870] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.92526515 -0.90722394 -0.10429665] yaw=-67.7deg [env.py: 1019] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34904358 -0.97711091 -0.10429665] yaw=-78.9deg [env.py: 1019] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.94083167e-04 -1.37255345e+00 -1.04296655e-01] yaw=-31.6deg [env.py: 1019] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.5ms, total=216.6ms [env.py: 1075] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.925, -0.907, -0.104) [env.py: 1079] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:40 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:40 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 14:44:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.774s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:47 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.765[m] 114.538[deg] [grasp_sample.py: 596] +05/18 14:44:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:48 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 14:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:45:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:45:20 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 14:45:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:22 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.659[m] 92.010[deg] [grasp_sample.py: 596] +05/18 14:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:45:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:45:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:45:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:45:40 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 14:45:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.559s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:42 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.655[m] 91.336[deg] [grasp_sample.py: 596] +05/18 14:45:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:45:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:45:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:45:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:45:59 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 14:45:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.707s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:01 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.655[m] 91.336[deg] [grasp_sample.py: 596] +05/18 14:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:46:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:46:19 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:46:19 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=0.55s: + episode_total: mean=99.64s, total=99.64s, count=1, min=99642.0ms, max=99642.0ms + sensor_polling: mean=468.3ms, total=31.85s, count=68, min=447.2ms, max=570.6ms + physics_step: mean=27.9ms, total=1.90s, count=68, min=18.3ms, max=36.0ms + task_sampling: mean=549.0ms, total=549.0ms, count=1, min=549.0ms, max=549.0ms + task_specific_sample: mean=544.4ms, total=544.4ms, count=1, min=544.4ms, max=544.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=635.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:46:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:20 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 14:46:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175384m [env.py: 870] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=230.3ms, total=230.3ms [env.py: 1105] +05/18 14:46:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:46:20 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:22 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 14:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:22 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 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129771m [env.py: 870] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.83779392 -0.70546614 -0.12977054] yaw=-90.5deg [env.py: 1019] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.3ms [env.py: 1075] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.838, -0.705, -0.130) [env.py: 1079] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.5 deg [env.py: 1082] +05/18 14:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:46:22 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:46:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 14:46:22 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 14:46:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.338s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:38 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.777[m] 107.090[deg] [grasp_sample.py: 596] +05/18 14:46:40 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:46:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:46:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:41 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 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185017m [env.py: 870] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=238.4ms, total=238.5ms [env.py: 1105] +05/18 14:46:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:46:41 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:46:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:43 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 14:46:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194116m [env.py: 870] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2620116 -1.27836712 -0.19411618] yaw=-39.9deg [env.py: 1019] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42805772 -0.94599777 -0.19411618] yaw=-72.0deg [env.py: 1019] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48356428 -0.88487355 -0.19411618] yaw=-78.3deg [env.py: 1019] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:46:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.3ms, total=240.4ms [env.py: 1075] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.278, -0.194) [env.py: 1079] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/18 14:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:46:43 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:46:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:46:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:46:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.549s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.639[m] 92.483[deg] [grasp_sample.py: 596] +05/18 14:46:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:46 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 14:47:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:48:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:48:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:48:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:48:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:48:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.283s, found 83 non-colliding grasps [grasp_sample.py: 520] +05/18 14:48:32 INFO: [Worker 0] Feasibility-checked 83 grasps in 1.010s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:48:32 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.033[m] 4.552[deg] [grasp_sample.py: 596] +05/18 14:48:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:48:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:48:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:48:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:26 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:51:50 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:51:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:51:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:52:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:52:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 41.77s (batch: 21.16s, save: 20.61s) [pipeline.py: 300] +05/18 14:52:33 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.13s: + episode_total: mean=92.08s, total=368.31s, count=4, min=242.9ms, max=350030.5ms + sensor_polling: mean=484.1ms, total=145.23s, count=300, min=428.6ms, max=612.7ms + save_batch_prep: mean=21.16s, total=21.16s, count=1, min=21162.7ms, max=21162.7ms + save_trajectories: mean=20.61s, total=20.61s, count=1, min=20611.6ms, max=20611.6ms + physics_step: mean=34.5ms, total=10.36s, count=300, min=23.1ms, max=71.9ms + task_specific_sample: mean=401.9ms, total=1.61s, count=4, min=236.9ms, max=580.9ms + task_sampling: mean=566.1ms, total=1.13s, count=2, min=548.4ms, max=583.8ms + task_sampling_failed: mean=246.5ms, total=492.9ms, count=2, min=242.9ms, max=250.1ms + scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.3ms, max=1.6ms + mj_forward_sync: mean=564.2us, total=2.3ms, count=4, min=0.5ms, max=0.6ms + policy_setup: mean=15.0us, total=0.0ms, count=2, 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 14:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:34 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 14:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:34 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 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103157m [env.py: 870] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35634827 -0.95487661 -0.10315715] yaw=-58.7deg [env.py: 1019] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64874504 -0.95735682 -0.10315715] yaw=-72.3deg [env.py: 1019] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38133313 -1.03762248 -0.10315715] yaw=-28.3deg [env.py: 1019] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms [env.py: 1075] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -0.955, -0.103) [env.py: 1079] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/18 14:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:35 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:35 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 14:52:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.039s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:51 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.743[m] 82.739[deg] [grasp_sample.py: 596] +05/18 14:52:53 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:54 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 14:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:54 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 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121038m [env.py: 870] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=247.0ms, total=247.1ms [env.py: 1105] +05/18 14:52:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:52:54 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180706m [env.py: 870] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29557144 -0.92449756 -0.18070613] yaw=-65.7deg [env.py: 1019] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.5ms, total=249.6ms [env.py: 1075] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -0.924, -0.181) [env.py: 1079] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:56 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:56 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 14:52:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.498s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:53:05 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:53:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:06 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 14:53:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:06 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 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128270m [env.py: 870] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40366037 -1.05908043 -0.1282705 ] yaw=-52.8deg [env.py: 1019] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25164656 -1.18254015 -0.1282705 ] yaw=-28.2deg [env.py: 1019] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=263.6ms, total=263.7ms [env.py: 1075] +05/18 14:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.059, -0.128) [env.py: 1079] +05/18 14:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/18 14:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/18 14:53:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:07 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:07 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 14:53:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.976s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:12 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.815[m] 50.321[deg] [grasp_sample.py: 596] +05/18 14:53:14 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:15 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 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165702m [env.py: 870] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57365849 -0.93501654 -0.16570223] yaw=-37.7deg [env.py: 1019] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02705975 -1.33015846 -0.16570223] yaw=-50.0deg [env.py: 1019] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3333537 -0.84859309 -0.16570223] yaw=-44.1deg [env.py: 1019] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=106.3ms, total=106.3ms [env.py: 1075] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.935, -0.166) [env.py: 1079] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/18 14:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/18 14:53:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:16 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:53:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.857s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:30 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.636[m] 85.339[deg] [grasp_sample.py: 596] +05/18 14:53:32 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:53:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:33 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 14:53:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:33 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 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147106m [env.py: 870] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=243.0ms, total=243.1ms [env.py: 1105] +05/18 14:53:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:53:33 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:53:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:35 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 14:53:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:35 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 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146670m [env.py: 870] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18435357 -0.96207042 -0.14666988] yaw=-70.9deg [env.py: 1019] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14643845 -1.29110822 -0.14666988] yaw=-23.4deg [env.py: 1019] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.71540535 -0.66076123 -0.14666988] yaw=-73.9deg [env.py: 1019] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.8ms, total=243.8ms [env.py: 1075] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -0.962, -0.147) [env.py: 1079] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg [env.py: 1082] +05/18 14:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:35 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:35 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 14:53:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.808s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:53:40 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130734m [env.py: 870] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4969283 -0.88484613 -0.13073389] yaw=-77.7deg [env.py: 1019] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31044089 -1.00706069 -0.13073389] yaw=-62.2deg [env.py: 1019] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=259.9ms, total=259.9ms [env.py: 1075] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.885, -0.131) [env.py: 1079] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/18 14:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:42 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:53:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.778s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:54 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.750[m] 84.537[deg] [grasp_sample.py: 596] +05/18 14:53:55 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:53:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:57 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 14:53:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:57 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 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168743m [env.py: 870] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19115801 -1.35124442 -0.1687429 ] yaw=-12.1deg [env.py: 1019] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.9ms, total=256.0ms [env.py: 1075] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.351, -0.169) [env.py: 1079] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.1 deg [env.py: 1082] +05/18 14:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:57 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:53:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.602s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:54:05 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.637[m] 58.892[deg] [grasp_sample.py: 596] +05/18 14:54:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:54:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:54:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:06 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 14:55:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:55:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:55:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:56:29 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:58:01 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 14:58:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:58:01 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/18 14:58:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:58:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 14:58:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 27.39s (batch: 17.55s, save: 9.84s) [pipeline.py: 300] +05/18 14:58:29 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=3.86s: + episode_total: mean=38.18s, total=343.64s, count=9, min=254.0ms, max=272397.0ms + sensor_polling: mean=501.7ms, total=131.45s, count=262, min=460.0ms, max=642.6ms + save_batch_prep: mean=17.55s, total=17.55s, count=1, min=17553.9ms, max=17553.9ms + save_trajectories: mean=9.84s, total=9.84s, count=1, min=9835.5ms, max=9835.5ms + physics_step: mean=35.0ms, total=9.16s, count=262, min=23.8ms, max=40.6ms + task_specific_sample: mean=482.2ms, total=4.34s, count=9, min=249.4ms, max=593.2ms + task_sampling: mean=551.3ms, total=3.86s, count=7, min=432.4ms, max=596.2ms + task_sampling_failed: mean=256.7ms, total=513.4ms, count=2, min=254.0ms, max=259.4ms + scene_randomize: mean=1.6ms, total=14.7ms, count=9, min=1.4ms, max=2.7ms + mj_forward_sync: mean=586.8us, total=5.3ms, count=9, min=0.5ms, max=0.7ms + policy_setup: mean=14.0us, total=0.1ms, count=7, 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 14:58:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:58:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:58:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:58:31 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 14:58:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:58:31 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 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100541m [env.py: 870] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:58:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.73243594 -0.83825616 -0.10054119] yaw=-84.3deg [env.py: 1019] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:58:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.8ms, total=257.8ms [env.py: 1075] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.732, -0.838, -0.101) [env.py: 1079] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.3 deg [env.py: 1082] +05/18 14:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:58:31 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:58:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:58:31 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 14:58:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:58:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:58:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.880s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:58:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.633[m] 109.194[deg] [grasp_sample.py: 596] +05/18 14:58:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:58:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:58:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:58:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:59:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:59:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:00:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:01:00 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:01:30 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_003 [pipeline.py: 1174] +05/18 15:01:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:01:30 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/18 15:01:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:01:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_003 [save_utils.py: 785] +05/18 15:01:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.73s (batch: 5.32s, save: 9.41s) [pipeline.py: 300] +05/18 15:01:45 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.61s: + episode_total: mean=194.60s, total=194.60s, count=1, min=194601.5ms, max=194601.5ms + sensor_polling: mean=472.7ms, total=125.75s, count=266, min=442.5ms, max=595.6ms + save_trajectories: mean=9.41s, total=9.41s, count=1, min=9410.1ms, max=9410.1ms + physics_step: mean=32.2ms, total=8.56s, count=266, min=23.2ms, max=37.8ms + save_batch_prep: mean=5.32s, total=5.32s, count=1, min=5321.5ms, max=5321.5ms + task_sampling: mean=613.7ms, total=613.7ms, count=1, min=613.7ms, max=613.7ms + task_specific_sample: mean=609.4ms, total=609.4ms, count=1, min=609.4ms, max=609.4ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=567.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=16.0us, 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 15:01:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:01:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:01:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:01:47 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 15:01:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:01:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130676m [env.py: 870] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:01:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85903584 -0.75214647 -0.13067614] yaw=-93.9deg [env.py: 1019] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:01:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.3ms, total=247.4ms [env.py: 1075] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.859, -0.752, -0.131) [env.py: 1079] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.9 deg [env.py: 1082] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:01:47 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 15:01:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 15:01:48 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 15:01:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.341s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:07 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.743[m] 98.860[deg] [grasp_sample.py: 596] +05/18 15:02:09 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:02:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:10 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 15:02:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:10 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 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191151m [env.py: 870] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14759366 -1.10279029 -0.19115136] yaw=-51.2deg [env.py: 1019] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33090077 -0.97005699 -0.19115136] yaw=-63.0deg [env.py: 1019] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.79326439 -0.84780315 -0.19115136] yaw=-85.6deg [env.py: 1019] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.5ms, total=156.6ms [env.py: 1075] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.148, -1.103, -0.191) [env.py: 1079] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/18 15:02:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:11 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:11 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 15:02:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.878s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:16 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:17 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 15:02:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145541m [env.py: 870] +05/18 15:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37538874 -1.08034798 -0.14554133] yaw=-31.7deg [env.py: 1019] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=261.7ms, total=261.8ms [env.py: 1075] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -1.080, -0.146) [env.py: 1079] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/18 15:02:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/18 15:02:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:18 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:18 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 15:02:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.337s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:26 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.864[m] 51.349[deg] [grasp_sample.py: 596] +05/18 15:02:27 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:02:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:29 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 15:02:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:29 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 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145462m [env.py: 870] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=251.6ms, total=251.6ms [env.py: 1105] +05/18 15:02:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:02:29 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:02:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:31 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 15:02:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:31 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 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184834m [env.py: 870] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17991065 -1.42903582 -0.18483405] yaw=-21.2deg [env.py: 1019] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16389763 -1.36442158 -0.18483405] yaw=-51.0deg [env.py: 1019] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=264.1ms, total=264.2ms [env.py: 1075] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.429, -0.185) [env.py: 1079] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.2 deg [env.py: 1082] +05/18 15:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:31 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:31 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 15:02:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.291s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.639[m] 86.128[deg] [grasp_sample.py: 596] +05/18 15:02:42 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:02:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:43 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 15:02:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:43 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 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175953m [env.py: 870] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39733657 -0.9178963 -0.17595318] yaw=-41.7deg [env.py: 1019] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21713586 -1.05802323 -0.17595318] yaw=-47.7deg [env.py: 1019] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=264.5ms, total=264.5ms [env.py: 1075] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.918, -0.176) [env.py: 1079] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg [env.py: 1082] +05/18 15:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:44 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:44 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 15:02:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.085s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:49 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.704[m] 62.205[deg] [grasp_sample.py: 596] +05/18 15:02:51 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:02:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:53 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 15:02:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148552m [env.py: 870] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17390016 -1.33601732 -0.1485521 ] yaw=-26.0deg [env.py: 1019] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4158076 -1.10304517 -0.1485521 ] yaw=-49.5deg [env.py: 1019] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61160996 -0.84006479 -0.1485521 ] yaw=-93.9deg [env.py: 1019] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=276.5ms, total=276.6ms [env.py: 1075] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.336, -0.149) [env.py: 1079] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.0 deg [env.py: 1082] +05/18 15:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:53 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:53 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 15:02:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.340s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:03:03 INFO: [Worker 0] Feasible grasp found 113 (originally 113): w/ 0.705[m] 98.962[deg] [grasp_sample.py: 596] +05/18 15:03:05 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:03:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:03:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:03:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:03:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:03:06 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 15:03:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:03:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112384m [env.py: 870] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:03:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40393433 -0.78713593 -0.11238389] yaw=-44.9deg [env.py: 1019] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=273.3ms, total=273.3ms [env.py: 1075] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.787, -0.112) [env.py: 1079] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/18 15:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/18 15:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:03:07 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 15:03:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 15:03:07 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 15:03:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:03:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.938s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:03:12 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:03:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:03:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:03:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:03:14 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 15:03:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:03:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178432m [env.py: 870] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:03:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15955014 -1.23354123 -0.17843219] yaw=-13.8deg [env.py: 1019] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17548416 -1.33689071 -0.17843219] yaw=-28.0deg [env.py: 1019] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.63719601 -0.8377258 -0.17843219] yaw=-63.3deg [env.py: 1019] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:03:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=234.0ms, total=234.0ms [env.py: 1075] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.234, -0.178) [env.py: 1079] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.8 deg [env.py: 1082] +05/18 15:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:03:14 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 15:03:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:03:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:03:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:03:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.060s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:03:20 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.845[m] 74.902[deg] [grasp_sample.py: 596] +05/18 15:03:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:03:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:03:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:03:21 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 15:04:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:04:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:05:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:05:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:05:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:05:12 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 15:05:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:05:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.237s, found 91 non-colliding grasps [grasp_sample.py: 520] +05/18 15:05:17 INFO: [Worker 0] Feasibility-checked 91 grasps in 4.899s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:05:17 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 3.926[deg] [grasp_sample.py: 596] +05/18 15:05:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:05:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:05:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:05:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:05:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] diff --git a/dresser/sim/chunk_003/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_003/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75be3e16da93514bfe704659143c1cebfe9b31ac --- /dev/null +++ b/dresser/sim/chunk_003/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e012247f5bb29db1622c28db339acf55dad45e8b744e87f1436078462f1c6d0e +size 986772497