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https://git-lfs.github.com/spec/v1 +oid sha256:33abc3ea128fd071fe2603c3f71f431eab1b3e744361a049c7adff11c3f9ece9 +size 8146 diff --git a/3drawers/sim_chunks/chunk_004/running_log.log b/3drawers/sim_chunks/chunk_004/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..866aa2238ccc23c2b3f9b0fd082083a4894b5891 --- /dev/null +++ b/3drawers/sim_chunks/chunk_004/running_log.log @@ -0,0 +1,18124 @@ +05/13 19:26:04 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/13 19:26:04 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/13 19:26:04 INFO: Evaluation configuration: [pipeline.py: 1366] +05/13 19:26:04 INFO: {'batch_num': 4, + '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/3drawers/sim_chunks/chunk_004'), + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_3drawers', + 'seed': 20044, + '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': 4, + '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] +05/13 19:26:04 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] +05/13 19:26:04 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/13 19:26:04 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/13 19:26:05 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/13 19:26:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/13 19:26:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/13 19:26:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/13 19:26:06 INFO: {'batch_num': 2, + '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/3drawers/sim_chunks/chunk_004'), + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_3drawers', + 'seed': 20042, + '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': 4, + '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] +05/13 19:26:06 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] +05/13 19:26:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/13 19:26:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/13 19:26:07 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/13 19:26:07 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/13 19:26:07 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/13 19:26:07 INFO: Evaluation configuration: [pipeline.py: 1366] +05/13 19:26:07 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/3drawers/sim_chunks/chunk_004'), + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_3drawers', + 'seed': 20041, + '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': 4, + '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] +05/13 19:26:07 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] +05/13 19:26:07 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/13 19:26:07 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/13 19:26:08 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/13 19:26:08 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/13 19:26:08 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/13 19:26:08 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/13 19:26:08 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/13 19:26:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183910m [env.py: 870] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:08 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04383598 -1.39260156 -0.18391027] yaw=-38.5deg [env.py: 1019] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:08 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/13 19:26:08 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/13 19:26:08 INFO: Evaluation configuration: [pipeline.py: 1366] +05/13 19:26:08 INFO: {'batch_num': 3, + '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/3drawers/sim_chunks/chunk_004'), + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_3drawers', + 'seed': 20043, + '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': 4, + '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] +05/13 19:26:08 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] +05/13 19:26:08 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/13 19:26:08 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.7014124 -0.8087303 -0.18391027] yaw=-60.2deg [env.py: 1019] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.0ms, retries=229.0ms, total=250.0ms [env.py: 1075] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -1.393, -0.184) [env.py: 1079] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg [env.py: 1082] +05/13 19:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:09 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:09 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/13 19:26:09 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/13 19:26:09 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/13 19:26:09 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/13 19:26:09 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/13 19:26:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:10 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: 256] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103375m [env.py: 870] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:10 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67069085 -0.6809369 -0.10337534] yaw=-76.9deg [env.py: 1019] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21244986 -1.24459438 -0.10337534] yaw=-14.4deg [env.py: 1019] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.81997041 -0.88500937 -0.10337534] yaw=-68.5deg [env.py: 1019] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.2ms, retries=205.8ms, total=227.0ms [env.py: 1075] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.671, -0.681, -0.103) [env.py: 1079] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.9 deg [env.py: 1082] +05/13 19:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:10 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:10 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/13 19:26:10 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/13 19:26:10 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/13 19:26:11 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/13 19:26:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173632m [env.py: 870] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:11 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35756088 -1.12495903 -0.17363217] yaw=-46.8deg [env.py: 1019] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08890636 -1.10259268 -0.17363217] yaw=-32.8deg [env.py: 1019] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.2ms, retries=220.0ms, total=241.2ms [env.py: 1075] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.125, -0.174) [env.py: 1079] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/13 19:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:11 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:12 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/13 19:26:12 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/13 19:26:12 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/13 19:26:12 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/13 19:26:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118043m [env.py: 870] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:12 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54155578 -0.81429545 -0.11804251] yaw=-67.5deg [env.py: 1019] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.73472733 -0.9248855 -0.11804251] yaw=-82.0deg [env.py: 1019] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=34.9ms, retries=266.6ms, total=301.5ms [env.py: 1075] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.814, -0.118) [env.py: 1079] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/13 19:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:13 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:43 INFO: [Worker 0] Warmed up parallel IK solver in 34.058s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:45 INFO: [Worker 0] Warmed up parallel IK solver in 33.637s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.753s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:26:46 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:26:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:26:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:47 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: 256] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103999m [env.py: 870] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=251.3ms, total=251.4ms [env.py: 1105] +05/13 19:26:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:26:47 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:26:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.855s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:26:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.622[m] 85.364[deg] [grasp_sample.py: 539] +05/13 19:26:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:26:48 INFO: [Worker 0] Warmed up parallel IK solver in 38.106s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:26:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:26:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:49 INFO: [Worker 0] Warmed up parallel IK solver in 35.928s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:26:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:49 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: 256] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100875m [env.py: 870] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60651787 -0.76501519 -0.10087459] yaw=-80.7deg [env.py: 1019] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=284.3ms, total=284.4ms [env.py: 1075] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.765, -0.101) [env.py: 1079] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.7 deg [env.py: 1082] +05/13 19:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:49 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.793s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:26:51 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:26:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.773s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:26:52 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:26:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135532m [env.py: 870] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26532701 -1.24575865 -0.13553179] yaw=-7.1deg [env.py: 1019] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24281158 -1.01251387 -0.13553179] yaw=-36.7deg [env.py: 1019] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.0ms, total=230.0ms [env.py: 1075] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.246, -0.136) [env.py: 1079] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.1 deg [env.py: 1082] +05/13 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:53 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:26:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:26:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:26:54 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: 256] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122649m [env.py: 870] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26083325 -0.99821195 -0.12264941] yaw=-44.3deg [env.py: 1019] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25696082 -1.24238697 -0.12264941] yaw=-36.4deg [env.py: 1019] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47097275 -0.76773426 -0.12264941] yaw=-72.6deg [env.py: 1019] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:26:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.0ms, total=293.0ms [env.py: 1075] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -0.998, -0.123) [env.py: 1079] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/13 19:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:26:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:26:54 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/13 19:26:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 19:26:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:26:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:26:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/13 19:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.015s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:26:57 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.691[m] 87.076[deg] [grasp_sample.py: 539] +05/13 19:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.834s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:26:57 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.736[m] 78.631[deg] [grasp_sample.py: 539] +05/13 19:26:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:26:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:26:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:26:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:26:59 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:27:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.187s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:27:00 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.759[m] 101.046[deg] [grasp_sample.py: 539] +05/13 19:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:27:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:27:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:27:00 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: 256] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109985m [env.py: 870] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07693622 -1.3842985 -0.10998471] yaw=-4.5deg [env.py: 1019] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.7ms [env.py: 1075] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.077, -1.384, -0.110) [env.py: 1079] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.5 deg [env.py: 1082] +05/13 19:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:27:01 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/13 19:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:27:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:27:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:27:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:27:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:27:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/13 19:27:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:27:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.631s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:27:03 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:27:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:27:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:27:05 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: 256] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161914m [env.py: 870] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13637046 -1.41752006 -0.16191378] yaw=4.9deg [env.py: 1019] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.2ms, total=218.2ms [env.py: 1075] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.418, -0.162) [env.py: 1079] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 4.9 deg [env.py: 1082] +05/13 19:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:27:05 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/13 19:27:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:27:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:27:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:27:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.917s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:27:15 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.694[m] 90.657[deg] [grasp_sample.py: 539] +05/13 19:27:16 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:27:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:27:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:27:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:27:18 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: 256] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199524m [env.py: 870] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49188326 -0.78223129 -0.19952413] yaw=-38.0deg [env.py: 1019] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04189415 -1.36820362 -0.19952413] yaw=-21.7deg [env.py: 1019] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=272.0ms, total=272.0ms [env.py: 1075] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.782, -0.200) [env.py: 1079] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/13 19:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:27:18 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/13 19:27:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/13 19:27:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:27:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:27:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:27:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.586s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:27:21 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:27:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:27:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:27:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:27:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:27:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:27:23 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: 256] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176398m [env.py: 870] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:27:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12465904 -1.4328801 -0.17639846] yaw=-21.8deg [env.py: 1019] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18336921 -1.21430987 -0.17639846] yaw=-39.7deg [env.py: 1019] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31758227 -1.05866306 -0.17639846] yaw=-50.0deg [env.py: 1019] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:27:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.1ms, total=260.2ms [env.py: 1075] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.125, -1.433, -0.176) [env.py: 1079] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.8 deg [env.py: 1082] +05/13 19:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:27:23 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/13 19:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/13 19:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:27:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:27:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:27:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.611s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:27:33 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.620[m] 85.217[deg] [grasp_sample.py: 539] +05/13 19:27:34 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:27:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:27:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125879m [env.py: 870] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28171536 -1.18201822 -0.12587929] yaw=-21.2deg [env.py: 1019] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54641796 -0.95782472 -0.12587929] yaw=-45.7deg [env.py: 1019] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.9ms, total=247.9ms [env.py: 1075] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.182, -0.126) [env.py: 1079] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.2 deg [env.py: 1082] +05/13 19:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:27:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:27:36 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/13 19:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/13 19:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:27:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:27:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:27:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:27:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.672s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:27:39 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.667[m] 78.997[deg] [grasp_sample.py: 539] +05/13 19:27:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:27:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:27:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:27:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:27:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:27:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:27:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:28:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:28:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:28:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:28:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:28:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 359 non-colliding grasps [grasp_sample.py: 465] +05/13 19:28:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:28:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.553s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:28:10 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.135[m] 5.061[deg] [grasp_sample.py: 539] +05/13 19:28:12 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:28:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:28:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:28:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:28:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:28:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192570m [env.py: 870] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37032974 -1.17815591 -0.19256973] yaw=-18.2deg [env.py: 1019] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.01547748 -1.25267458 -0.19256973] yaw=-30.8deg [env.py: 1019] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=314.1ms, total=314.1ms [env.py: 1075] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.178, -0.193) [env.py: 1079] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.2 deg [env.py: 1082] +05/13 19:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:28:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:28:14 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/13 19:28:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/13 19:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:28:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:28:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/13 19:28:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.076s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:28:16 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.597[m] 89.769[deg] [grasp_sample.py: 539] +05/13 19:28:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:28:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:28:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:28:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:28:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:28:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:28:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:28:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:28:56 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:28:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:28:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/13 19:28:59 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/13 19:29:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:29:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:29:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:29:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.57s (batch: 4.57s, save: 10.00s) [pipeline.py: 300] +05/13 19:29:14 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.91s: + episode_total: mean=186.65s, total=186.65s, count=1, min=186645.7ms, max=186645.7ms + sensor_polling: mean=379.3ms, total=98.25s, count=259, min=351.1ms, max=616.2ms + save_trajectories: mean=10.00s, total=10.00s, count=1, min=10002.0ms, max=10002.0ms + physics_step: mean=24.3ms, total=6.29s, count=259, min=21.2ms, max=64.9ms + save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4571.1ms, max=4571.1ms + task_sampling: mean=3.91s, total=3.91s, count=1, min=3910.2ms, max=3910.2ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3363.0ms, max=3363.0ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.4ms, max=2109.4ms + scene_compile: mean=1.05s, total=1.05s, count=1, min=1054.0ms, max=1054.0ms + compile_mujoco: mean=704.7ms, total=704.7ms, count=1, min=704.7ms, max=704.7ms + task_specific_sample: mean=544.2ms, total=544.2ms, count=1, min=544.2ms, max=544.2ms + compile_xml_load: mean=265.2ms, total=265.2ms, count=1, min=265.2ms, max=265.2ms + scene_init: mean=133.0ms, total=133.0ms, count=1, min=133.0ms, max=133.0ms + scene_asset_install: mean=65.9ms, total=65.9ms, count=1, min=65.9ms, max=65.9ms + compile_aux_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms + compile_aux_policy_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms + asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms + asset_install_objects: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=433.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=53.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/13 19:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:29:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:29:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:29:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:29:15 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: 256] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101411m [env.py: 870] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57247376 -0.70838933 -0.10141058] yaw=-53.9deg [env.py: 1019] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58837883 -0.74670895 -0.10141058] yaw=-98.1deg [env.py: 1019] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74682004 -0.73310161 -0.10141058] yaw=-97.7deg [env.py: 1019] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:29:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=162.4ms, total=162.5ms [env.py: 1075] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.708, -0.101) [env.py: 1079] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg [env.py: 1082] +05/13 19:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:29:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:29:16 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/13 19:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/13 19:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:29:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:29:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:29:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:29:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.616s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:29:19 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:29:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:29:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:29:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:29:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:29:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:29:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:29:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193146m [env.py: 870] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:29:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90979429 -0.91257556 -0.19314606] yaw=-97.1deg [env.py: 1019] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.2ms, total=196.3ms [env.py: 1075] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.910, -0.913, -0.193) [env.py: 1079] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.1 deg [env.py: 1082] +05/13 19:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:29:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:29:20 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/13 19:29:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/13 19:29:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:29:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:29:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:29:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.254s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:29:22 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.570[m] 88.894[deg] [grasp_sample.py: 539] +05/13 19:29:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:29:22 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:29:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/13 19:29:22 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/13 19:29:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:29:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:29:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:29:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:29:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.75s (batch: 4.30s, save: 10.45s) [pipeline.py: 300] +05/13 19:29:38 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.32s: + episode_total: mean=104.92s, total=209.85s, count=2, min=44851.6ms, max=164997.0ms + sensor_polling: mean=396.6ms, total=109.86s, count=277, min=376.9ms, max=719.9ms + save_trajectories: mean=10.45s, total=10.45s, count=1, min=10450.2ms, max=10450.2ms + physics_step: mean=23.5ms, total=6.50s, count=277, min=17.2ms, max=37.9ms + task_sampling: mean=2.16s, total=4.32s, count=2, min=496.5ms, max=3824.2ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.0ms, max=4301.0ms + scene_load: mean=3.26s, total=3.26s, count=1, min=3259.8ms, max=3259.8ms + scene_env_create: mean=2.08s, total=2.08s, count=1, min=2076.0ms, max=2076.0ms + task_specific_sample: mean=527.1ms, total=1.05s, count=2, min=493.5ms, max=560.8ms + scene_compile: mean=986.6ms, total=986.6ms, count=1, min=986.6ms, max=986.6ms + compile_mujoco: mean=641.5ms, total=641.5ms, count=1, min=641.5ms, max=641.5ms + compile_xml_load: mean=264.0ms, total=264.0ms, count=1, min=264.0ms, max=264.0ms + scene_init: mean=133.5ms, total=133.5ms, count=1, min=133.5ms, max=133.5ms + scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms + 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 + asset_install_grasps: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms + compile_robot_add: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.4ms, max=1.7ms + mj_forward_sync: mean=424.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=39.0us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:39 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:29:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:29:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:29:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:29:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:29:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197717m [env.py: 870] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.62220977 -0.89831857 -0.19771654] yaw=-62.9deg [env.py: 1019] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.67345109 -0.67122941 -0.19771654] yaw=-81.5deg [env.py: 1019] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.3ms [env.py: 1075] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.898, -0.198) [env.py: 1079] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/13 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:29:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:29:40 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/13 19:29:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 19:29:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:29:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:29:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:29:41 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.608[m] 85.143[deg] [grasp_sample.py: 539] +05/13 19:29:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:29:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:29:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:29:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:29:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:29:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:29:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.706s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:29:52 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.441[m] 62.976[deg] [grasp_sample.py: 539] +05/13 19:29:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:29:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:29:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:30:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/13 19:30:02 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/13 19:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:30:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:30:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.213s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:30:06 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.436[m] 62.155[deg] [grasp_sample.py: 539] +05/13 19:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:30:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:30:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:10 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:30:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:30:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.89s (batch: 4.11s, save: 9.77s) [pipeline.py: 300] +05/13 19:30:17 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=8.28s: + episode_total: mean=26.84s, total=241.58s, count=9, min=262.1ms, max=161340.0ms + sensor_polling: mean=411.7ms, total=110.74s, count=269, min=372.0ms, max=674.1ms + save_trajectories: mean=9.77s, total=9.77s, count=1, min=9774.0ms, max=9774.0ms + task_sampling: mean=1.04s, total=8.28s, count=8, min=469.5ms, max=4587.3ms + physics_step: mean=24.4ms, total=6.56s, count=269, min=16.4ms, max=36.8ms + task_specific_sample: mean=501.6ms, total=4.51s, count=9, min=258.2ms, max=585.9ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4114.8ms, max=4114.8ms + scene_load: mean=4.00s, total=4.00s, count=1, min=3997.5ms, max=3997.5ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2094.3ms, max=2094.3ms + scene_compile: mean=1.70s, total=1.70s, count=1, min=1698.6ms, max=1698.6ms + compile_xml_load: mean=892.7ms, total=892.7ms, count=1, min=892.7ms, max=892.7ms + compile_mujoco: mean=668.8ms, total=668.8ms, count=1, min=668.8ms, max=668.8ms + task_sampling_failed: mean=262.1ms, total=262.1ms, count=1, min=262.1ms, max=262.1ms + scene_init: mean=140.0ms, total=140.0ms, count=1, min=140.0ms, max=140.0ms + compile_aux_objects: mean=77.7ms, total=77.7ms, count=1, min=77.7ms, max=77.7ms + compile_aux_policy_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + scene_asset_install: mean=64.2ms, total=64.2ms, count=1, min=64.2ms, max=64.2ms + compile_robot_add: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + asset_install_grasps: mean=43.5ms, total=43.5ms, count=1, min=43.5ms, max=43.5ms + asset_install_objects: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms + scene_randomize: mean=1.7ms, total=15.6ms, count=9, min=1.2ms, max=2.0ms + asset_install_scene: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms + mj_forward_sync: mean=443.4us, total=4.0ms, count=9, min=0.4ms, max=0.5ms + policy_setup: mean=27.4us, total=0.2ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:18 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: 256] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119343m [env.py: 870] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.2ms, total=214.2ms [env.py: 1105] +05/13 19:30:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:30:19 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:30:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:20 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: 256] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131610m [env.py: 870] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32735497 -1.21891884 -0.13161034] yaw=-55.0deg [env.py: 1019] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1075] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -1.219, -0.132) [env.py: 1079] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/13 19:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:21 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:30:21 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.436[m] 62.157[deg] [grasp_sample.py: 539] +05/13 19:30:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:30:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:30:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.750s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:30:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.626[m] 76.881[deg] [grasp_sample.py: 539] +05/13 19:30:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:30:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:30:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:30:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:30:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:30:34 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:30:34 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.92s: + episode_total: mean=38.77s, total=77.54s, count=2, min=3308.9ms, max=74228.9ms + sensor_polling: mean=386.4ms, total=27.05s, count=70, min=360.2ms, max=642.7ms + physics_step: mean=20.8ms, total=1.46s, count=70, min=14.3ms, max=30.0ms + task_sampling: mean=461.6ms, total=923.3ms, count=2, min=458.0ms, max=465.2ms + task_specific_sample: mean=458.2ms, total=916.4ms, count=2, min=454.1ms, max=462.2ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.5ms + mj_forward_sync: mean=427.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:30:34 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:30:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/13 19:30:34 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/13 19:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119937m [env.py: 870] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19310109 -1.08047919 -0.11993716] yaw=-30.1deg [env.py: 1019] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51085377 -0.98854285 -0.11993716] yaw=-32.4deg [env.py: 1019] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=414.0ms, total=414.1ms [env.py: 1075] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -1.080, -0.120) [env.py: 1079] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg [env.py: 1082] +05/13 19:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:37 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.655s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:30:40 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:30:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:41 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: 256] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122820m [env.py: 870] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.71965808 -0.68780632 -0.12282039] yaw=-50.3deg [env.py: 1019] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61610433 -0.95076921 -0.12282039] yaw=-59.0deg [env.py: 1019] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.8ms, total=257.9ms [env.py: 1075] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.720, -0.688, -0.123) [env.py: 1079] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/13 19:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:30:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:41 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.564s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:30:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:30:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125370m [env.py: 870] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.70704553 -0.9201316 -0.12536963] yaw=-50.7deg [env.py: 1019] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5552719 -0.78991092 -0.12536963] yaw=-49.2deg [env.py: 1019] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.70481698 -0.91903849 -0.12536963] yaw=-44.9deg [env.py: 1019] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=293.9ms, total=294.0ms [env.py: 1075] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.707, -0.920, -0.125) [env.py: 1079] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/13 19:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:46 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.601s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:30:49 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.697[m] 94.124[deg] [grasp_sample.py: 539] +05/13 19:30:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:30:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:30:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:30:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.51s (batch: 6.39s, save: 10.12s) [pipeline.py: 300] +05/13 19:30:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.98s: + episode_total: mean=140.51s, total=281.02s, count=2, min=123310.4ms, max=157711.8ms + sensor_polling: mean=391.8ms, total=155.94s, count=398, min=350.9ms, max=755.4ms + save_trajectories: mean=10.12s, total=10.12s, count=1, min=10123.9ms, max=10123.9ms + physics_step: mean=24.0ms, total=9.54s, count=398, min=18.4ms, max=33.8ms + save_batch_prep: mean=6.39s, total=6.39s, count=1, min=6385.8ms, max=6385.8ms + task_sampling: mean=2.49s, total=4.98s, count=2, min=669.9ms, max=4309.0ms + scene_load: mean=3.61s, total=3.61s, count=1, min=3612.5ms, max=3612.5ms + scene_env_create: mean=2.30s, total=2.30s, count=1, min=2297.9ms, max=2297.9ms + task_specific_sample: mean=676.9ms, total=1.35s, count=2, min=663.0ms, max=690.7ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1029.4ms, max=1029.4ms + compile_mujoco: mean=683.6ms, total=683.6ms, count=1, min=683.6ms, max=683.6ms + compile_xml_load: mean=263.9ms, total=263.9ms, count=1, min=263.9ms, max=263.9ms + scene_init: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms + scene_asset_install: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms + compile_aux_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + compile_aux_policy_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + asset_install_grasps: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms + asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + compile_robot_add: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + scene_randomize: mean=4.1ms, total=8.1ms, count=2, min=3.1ms, max=5.1ms + asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms + mj_forward_sync: mean=542.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=64.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:30:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138400m [env.py: 870] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14614318 -1.03747703 -0.13840033] yaw=-34.1deg [env.py: 1019] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63091697 -0.91105099 -0.13840033] yaw=-57.8deg [env.py: 1019] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.7ms, total=240.8ms [env.py: 1075] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.037, -0.138) [env.py: 1079] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/13 19:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:52 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139987m [env.py: 870] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09993187 -1.36631738 -0.1399866 ] yaw=-9.3deg [env.py: 1019] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1075] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.100, -1.366, -0.140) [env.py: 1079] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.3 deg [env.py: 1082] +05/13 19:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:53 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.178s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:30:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.679s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:30:55 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:30:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141553m [env.py: 870] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20622433 -1.26038272 -0.14155333] yaw=-23.5deg [env.py: 1019] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.78034181 -0.75419838 -0.14155333] yaw=-58.8deg [env.py: 1019] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.260, -0.142) [env.py: 1079] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.5 deg [env.py: 1082] +05/13 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:30:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:30:57 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/13 19:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/13 19:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:30:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:30:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:31:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.706s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:31:00 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/13 19:31:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:31:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:31:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:31:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:31:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:31:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:31:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159094m [env.py: 870] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:31:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37384191 -1.12034922 -0.15909352] yaw=-30.8deg [env.py: 1019] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60992949 -0.83520497 -0.15909352] yaw=-91.7deg [env.py: 1019] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12673236 -1.08947057 -0.15909352] yaw=-31.0deg [env.py: 1019] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:31:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=562.4ms, total=562.4ms [env.py: 1075] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.120, -0.159) [env.py: 1079] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/13 19:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:31:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:31:03 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/13 19:31:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/13 19:31:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:31:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:31:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 360 non-colliding grasps [grasp_sample.py: 465] +05/13 19:31:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.788s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:31:06 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.637[m] 71.744[deg] [grasp_sample.py: 539] +05/13 19:31:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:31:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:31:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:31:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:31:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.756s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:31:09 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.659[m] 80.937[deg] [grasp_sample.py: 539] +05/13 19:31:10 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:31:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:31:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:31:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:31:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:31:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:31:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:31:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158623m [env.py: 870] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:31:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65641282 -0.95260403 -0.15862258] yaw=-54.2deg [env.py: 1019] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41379991 -1.07703737 -0.15862258] yaw=-64.1deg [env.py: 1019] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:31:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=360.3ms, total=360.3ms [env.py: 1075] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.656, -0.953, -0.159) [env.py: 1079] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/13 19:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:31:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:31:12 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/13 19:31:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/13 19:31:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:31:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:31:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:31:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.163s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:31:14 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 92.712[deg] [grasp_sample.py: 539] +05/13 19:31:15 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:31:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:31:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:31:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:31:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:31:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:31:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:31:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:31:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:31:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:31:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:31:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105054m [env.py: 870] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:31:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39187129 -0.99485911 -0.10505375] yaw=-39.8deg [env.py: 1019] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00518388 -1.31647837 -0.10505375] yaw=-4.4deg [env.py: 1019] +05/13 19:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=296.4ms, total=296.5ms [env.py: 1075] +05/13 19:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.995, -0.105) [env.py: 1079] +05/13 19:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg [env.py: 1082] +05/13 19:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/13 19:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:31:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:31:17 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/13 19:31:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:31:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:31:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:31:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.550s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:31:23 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.731[m] 91.795[deg] [grasp_sample.py: 539] +05/13 19:31:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:31:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:31:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:31:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:31:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:31:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:31:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:31:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:31:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/13 19:31:57 INFO: [Worker 0] Preparing episode data: 257 timesteps [save_utils.py: 278] +05/13 19:31:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:32:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:32:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:32:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:32:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:32:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.30s (batch: 3.93s, save: 9.37s) [pipeline.py: 300] +05/13 19:32:11 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.52s: + episode_total: mean=152.48s, total=152.48s, count=1, min=152477.0ms, max=152477.0ms + sensor_polling: mean=398.2ms, total=101.94s, count=256, min=371.9ms, max=723.6ms + save_trajectories: mean=9.37s, total=9.37s, count=1, min=9365.1ms, max=9365.1ms + physics_step: mean=23.6ms, total=6.05s, count=256, min=16.5ms, max=61.9ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.1ms, max=3934.1ms + task_sampling: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms + task_specific_sample: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=437.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.8us, 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] +05/13 19:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:32:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:32:13 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: 256] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107556m [env.py: 870] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19675673 -1.38045889 -0.10755609] yaw=-2.4deg [env.py: 1019] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.87912087 -0.75230782 -0.10755609] yaw=-73.2deg [env.py: 1019] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=260.0ms, total=260.0ms [env.py: 1075] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.380, -0.108) [env.py: 1079] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -2.4 deg [env.py: 1082] +05/13 19:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:32:14 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/13 19:32:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/13 19:32:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:32:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:32:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/13 19:32:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.028s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:32:15 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.670[m] 81.872[deg] [grasp_sample.py: 539] +05/13 19:32:16 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:32:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:32:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:32:17 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: 256] +05/13 19:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169325m [env.py: 870] +05/13 19:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50991047 -0.75845406 -0.16932501] yaw=-38.7deg [env.py: 1019] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:32:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=303.9ms, total=303.9ms [env.py: 1075] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -0.758, -0.169) [env.py: 1079] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg [env.py: 1082] +05/13 19:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/13 19:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:32:18 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/13 19:32:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/13 19:32:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:32:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:32:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 359 non-colliding grasps [grasp_sample.py: 465] +05/13 19:32:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.669s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:32:21 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:32:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:32:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184242m [env.py: 870] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52787859 -0.74660687 -0.18424217] yaw=-48.5deg [env.py: 1019] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03010715 -1.31666594 -0.18424217] yaw=-8.1deg [env.py: 1019] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.2ms [env.py: 1075] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.747, -0.184) [env.py: 1079] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/13 19:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:32:23 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/13 19:32:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 19:32:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:32:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:32:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:32:25 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:32:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.680s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:32:26 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:32:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:32:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:32:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:32:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:32:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:32:27 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: 256] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152793m [env.py: 870] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:32:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=366.2ms, total=366.3ms [env.py: 1105] +05/13 19:32:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:32:27 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:32:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:32:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174467m [env.py: 870] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89506411 -0.82071755 -0.17446709] yaw=-76.1deg [env.py: 1019] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:32:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=225.9ms [env.py: 1075] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.895, -0.821, -0.174) [env.py: 1079] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg [env.py: 1082] +05/13 19:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:32:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:32:29 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/13 19:32:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/13 19:32:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:32:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:32:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/13 19:32:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:32:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.985s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:32:32 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.673[m] 97.351[deg] [grasp_sample.py: 539] +05/13 19:32:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:32:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:32:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:32:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:32:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:32:49 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:32:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/13 19:32:49 INFO: [Worker 0] Preparing episode data: 261 timesteps [save_utils.py: 278] +05/13 19:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:32:57 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:33:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:33:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:33:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:33:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.84s (batch: 3.97s, save: 9.87s) [pipeline.py: 300] +05/13 19:33:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:03 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=81.68s, total=163.36s, count=2, min=227.2ms, max=163132.2ms + sensor_polling: mean=428.8ms, total=111.49s, count=260, min=368.9ms, max=680.4ms + save_trajectories: mean=9.87s, total=9.87s, count=1, min=9869.2ms, max=9869.2ms + physics_step: mean=26.3ms, total=6.84s, count=260, min=17.6ms, max=84.8ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3972.4ms, max=3972.4ms + task_specific_sample: mean=362.6ms, total=725.1ms, count=2, min=220.8ms, max=504.3ms + task_sampling: mean=507.6ms, total=507.6ms, count=1, min=507.6ms, max=507.6ms + task_sampling_failed: mean=227.2ms, total=227.2ms, count=1, min=227.2ms, max=227.2ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=434.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:33:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:04 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.520[m] 69.443[deg] [grasp_sample.py: 539] +05/13 19:33:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:33:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:33:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:33:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:33:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:33:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:33:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:33:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:33:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:33:05 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: 256] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106353m [env.py: 870] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:33:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12228871 -1.29908578 -0.10635261] yaw=-6.9deg [env.py: 1019] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5233061 -0.75351911 -0.10635261] yaw=-56.4deg [env.py: 1019] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61801711 -0.90811581 -0.10635261] yaw=-65.7deg [env.py: 1019] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:33:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.3ms, total=270.3ms [env.py: 1075] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.122, -1.299, -0.106) [env.py: 1079] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.9 deg [env.py: 1082] +05/13 19:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:33:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:33:05 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/13 19:33:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.222s [base_object_manipulation_planner_policy.py: 377] +05/13 19:33:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.664s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:12 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/13 19:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:33:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:33:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:33:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:33:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:33:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:33:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133222m [env.py: 870] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:33:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65982604 -0.92402386 -0.13322245] yaw=-84.6deg [env.py: 1019] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:33:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=313.9ms, total=314.0ms [env.py: 1075] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.924, -0.133) [env.py: 1079] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.6 deg [env.py: 1082] +05/13 19:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:33:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:33:14 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/13 19:33:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 19:33:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:33:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:33:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.987s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:18 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.679[m] 97.904[deg] [grasp_sample.py: 539] +05/13 19:33:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:33:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:33:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:33:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.502s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:19 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.515[m] 68.697[deg] [grasp_sample.py: 539] +05/13 19:33:19 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:33:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/13 19:33:19 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/13 19:33:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:33:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:33:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:28 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:33:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:33:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:33:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:33:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.71s (batch: 3.93s, save: 9.78s) [pipeline.py: 300] +05/13 19:33:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.40s: + episode_total: mean=79.77s, total=159.53s, count=2, min=7504.5ms, max=152028.9ms + sensor_polling: mean=387.2ms, total=101.46s, count=262, min=353.8ms, max=702.7ms + save_trajectories: mean=9.78s, total=9.78s, count=1, min=9779.6ms, max=9779.6ms + physics_step: mean=24.4ms, total=6.38s, count=262, min=17.2ms, max=68.8ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3925.9ms, max=3925.9ms + task_sampling: mean=700.0ms, total=1.40s, count=2, min=487.5ms, max=912.5ms + task_specific_sample: mean=695.7ms, total=1.39s, count=2, min=483.1ms, max=908.3ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.9ms, max=3.0ms + mj_forward_sync: mean=438.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=26.8us, total=0.1ms, 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] +05/13 19:33:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:34 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.515[m] 68.699[deg] [grasp_sample.py: 539] +05/13 19:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:33:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:33:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:33:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:33:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:33:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:33:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:33:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:33:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:33:35 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: 256] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104280m [env.py: 870] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:33:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30195251 -1.05917437 -0.10428024] yaw=-57.5deg [env.py: 1019] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:33:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=240.2ms, total=240.2ms [env.py: 1075] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.059, -0.104) [env.py: 1079] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/13 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:33:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:33:36 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/13 19:33:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/13 19:33:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.735s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:42 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.697[m] 86.003[deg] [grasp_sample.py: 539] +05/13 19:33:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:33:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:33:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:33:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:33:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:33:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:33:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:33:48 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:33:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.930s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:33:49 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.572[m] 76.148[deg] [grasp_sample.py: 539] +05/13 19:33:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:33:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:33:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:33:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/13 19:33:54 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/13 19:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:33:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_004 [pipeline.py: 1174] +05/13 19:33:59 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 20042) [pipeline.py: 1213] +05/13 19:33:59 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=2.17s: + episode_total: mean=20.05s, total=100.26s, count=5, min=379.1ms, max=89930.5ms + sensor_polling: mean=396.5ms, total=30.14s, count=76, min=376.1ms, max=682.6ms + task_specific_sample: mean=505.8ms, total=2.53s, count=5, min=373.3ms, max=611.5ms + task_sampling: mean=542.2ms, total=2.17s, count=4, min=475.9ms, max=615.5ms + physics_step: mean=20.3ms, total=1.54s, count=76, min=14.4ms, max=24.9ms + task_sampling_failed: mean=379.1ms, total=379.1ms, count=1, min=379.1ms, max=379.1ms + scene_randomize: mean=1.8ms, total=9.0ms, count=5, min=1.2ms, max=2.5ms + mj_forward_sync: mean=455.6us, total=2.3ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=18.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:34:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:34:00 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: 256] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171521m [env.py: 870] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15295895 -1.32974427 -0.17152066] yaw=-44.5deg [env.py: 1019] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59466999 -0.81281117 -0.17152066] yaw=-84.4deg [env.py: 1019] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47147457 -0.84945392 -0.17152066] yaw=-47.9deg [env.py: 1019] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.9ms, total=162.0ms [env.py: 1075] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.153, -1.330, -0.172) [env.py: 1079] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg [env.py: 1082] +05/13 19:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:34:01 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/13 19:34:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/13 19:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.089s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:34:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.652[m] 76.344[deg] [grasp_sample.py: 539] +05/13 19:34:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:34:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:34:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:34:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:34:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:34:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.621s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:34:04 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.567[m] 75.457[deg] [grasp_sample.py: 539] +05/13 19:34:06 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:34:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:34:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:34:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:34:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:34:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:34:07 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: 256] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192136m [env.py: 870] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:34:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17998757 -1.20818174 -0.19213612] yaw=-12.5deg [env.py: 1019] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35165312 -1.13066772 -0.19213612] yaw=-22.2deg [env.py: 1019] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55632562 -0.91325118 -0.19213612] yaw=-46.2deg [env.py: 1019] +05/13 19:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:34:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=459.1ms, total=459.1ms [env.py: 1075] +05/13 19:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.208, -0.192) [env.py: 1079] +05/13 19:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.5 deg [env.py: 1082] +05/13 19:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/13 19:34:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:34:08 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/13 19:34:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 19:34:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:34:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:34:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.64s (batch: 4.18s, save: 10.46s) [pipeline.py: 300] +05/13 19:34:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=4.22s: + episode_total: mean=29.24s, total=204.65s, count=7, min=3213.8ms, max=172715.5ms + sensor_polling: mean=396.7ms, total=113.46s, count=286, min=354.8ms, max=675.6ms + save_trajectories: mean=10.46s, total=10.46s, count=1, min=10463.1ms, max=10463.1ms + physics_step: mean=24.9ms, total=7.12s, count=286, min=19.7ms, max=34.3ms + task_sampling: mean=603.6ms, total=4.22s, count=7, min=509.2ms, max=930.4ms + task_specific_sample: mean=600.7ms, total=4.20s, count=7, min=506.6ms, max=927.8ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4175.4ms, max=4175.4ms + scene_randomize: mean=1.3ms, total=9.1ms, count=7, min=1.1ms, max=1.9ms + mj_forward_sync: mean=457.2us, total=3.2ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=18.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:34:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:34:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:34:10 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: 256] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126856m [env.py: 870] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09710544 -1.19247322 -0.12685608] yaw=-52.0deg [env.py: 1019] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:34:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms [env.py: 1075] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.192, -0.127) [env.py: 1079] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/13 19:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/13 19:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:34:11 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/13 19:34:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.723s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:34:11 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.699[m] 78.779[deg] [grasp_sample.py: 539] +05/13 19:34:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/13 19:34:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:12 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:34:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.549s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:34:14 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:34:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:34:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:34:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:34:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:34:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:34:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193087m [env.py: 870] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:34:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5698763 -1.02152794 -0.19308662] yaw=-73.8deg [env.py: 1019] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01283313 -1.3536207 -0.19308662] yaw=-17.4deg [env.py: 1019] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:34:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=383.4ms, total=383.5ms [env.py: 1075] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -1.022, -0.193) [env.py: 1079] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.8 deg [env.py: 1082] +05/13 19:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:34:15 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/13 19:34:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/13 19:34:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:34:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:34:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:34:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:34:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135755m [env.py: 870] +05/13 19:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8140006 -0.83115254 -0.13575451] yaw=-107.2deg [env.py: 1019] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:34:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.8ms [env.py: 1075] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.814, -0.831, -0.136) [env.py: 1079] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.2 deg [env.py: 1082] +05/13 19:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/13 19:34:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:34:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:34:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:34:16 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/13 19:34:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 19:34:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.821s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:34:18 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.628[m] 95.169[deg] [grasp_sample.py: 539] +05/13 19:34:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:34:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:34:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.236s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:34:18 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.743[m] 95.458[deg] [grasp_sample.py: 539] +05/13 19:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:34:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:34:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:34:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:34:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:34:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:34:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:34:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.563s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:34:53 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.605[m] 72.839[deg] [grasp_sample.py: 539] +05/13 19:34:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:34:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:34:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:35:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:35:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:35:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:35:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.711s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:35:11 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.605[m] 72.840[deg] [grasp_sample.py: 539] +05/13 19:35:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:35:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:35:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:35:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:35:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:35:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:35:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.530s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:35:27 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.605[m] 72.840[deg] [grasp_sample.py: 539] +05/13 19:35:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:35:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:35:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:35:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:35:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:35:40 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:35:40 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/13 19:35:40 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=1.03s: + episode_total: mean=43.96s, total=87.92s, count=2, min=3311.4ms, max=84603.7ms + sensor_polling: mean=409.1ms, total=29.45s, count=72, min=364.2ms, max=629.5ms + physics_step: mean=22.5ms, total=1.62s, count=72, min=14.3ms, max=30.2ms + task_sampling: mean=516.4ms, total=1.03s, count=2, min=511.1ms, max=521.8ms + task_specific_sample: mean=512.6ms, total=1.03s, count=2, min=508.1ms, max=517.1ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms + mj_forward_sync: mean=459.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:35:40 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:35:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:35:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:35:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:35:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:35:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:35:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:35:42 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: 256] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106452m [env.py: 870] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:35:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.8306015 -0.68343405 -0.10645214] yaw=-66.1deg [env.py: 1019] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.72699279 -0.82780015 -0.10645214] yaw=-87.2deg [env.py: 1019] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:35:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=420.1ms, total=420.1ms [env.py: 1075] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.831, -0.683, -0.106) [env.py: 1079] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/13 19:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:35:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:35:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:35:42 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/13 19:35:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 19:35:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:35:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:35:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:35:43 INFO: [Worker 0] Object is not in grasp! 0.00129 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:35:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:35:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:35:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:35:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 169 non-colliding grasps [grasp_sample.py: 465] +05/13 19:35:44 INFO: [Worker 0] Feasibility-checked 169 grasps in 0.774s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:35:44 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.067[m] 0.542[deg] [grasp_sample.py: 539] +05/13 19:35:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:35:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:35:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.670s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:35:45 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:35:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:35:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:35:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:35:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:35:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:35:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:35:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188266m [env.py: 870] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:35:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17663837 -1.26818621 -0.18826604] yaw=-51.1deg [env.py: 1019] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2936273 -1.09907756 -0.18826604] yaw=-16.3deg [env.py: 1019] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11653993 -1.31390293 -0.18826604] yaw=-17.4deg [env.py: 1019] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:35:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.7ms [env.py: 1075] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.268, -0.188) [env.py: 1079] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/13 19:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:35:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:35:47 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/13 19:35:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 19:35:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:35:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:35:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:35:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:35:56 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:35:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:36:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.610s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:02 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.647[m] 81.564[deg] [grasp_sample.py: 539] +05/13 19:36:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:03 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:36:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155415m [env.py: 870] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18538665 -1.30400592 -0.15541497] yaw=-29.4deg [env.py: 1019] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=219.9ms, total=220.0ms [env.py: 1075] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.304, -0.155) [env.py: 1079] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.4 deg [env.py: 1082] +05/13 19:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:05 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 363 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:36:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/13 19:36:06 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/13 19:36:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.291s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:08 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.653[m] 89.218[deg] [grasp_sample.py: 539] +05/13 19:36:09 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:36:10 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:36:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:36:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.191s, found 180 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198574m [env.py: 870] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11271547 -1.26147935 -0.1985739 ] yaw=-16.3deg [env.py: 1019] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32660393 -1.04338663 -0.1985739 ] yaw=-66.5deg [env.py: 1019] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.4ms, total=229.5ms [env.py: 1075] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.261, -0.199) [env.py: 1079] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.3 deg [env.py: 1082] +05/13 19:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/13 19:36:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:11 INFO: [Worker 0] Feasibility-checked 180 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:11 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.060[m] 0.426[deg] [grasp_sample.py: 539] +05/13 19:36:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:36:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:11 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:36:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.042s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:15 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.672[m] 84.568[deg] [grasp_sample.py: 539] +05/13 19:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:18 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: 256] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172444m [env.py: 870] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.70066284 -0.95800579 -0.17244396] yaw=-93.9deg [env.py: 1019] +05/13 19:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=464.4ms, total=464.5ms [env.py: 1075] +05/13 19:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.701, -0.958, -0.172) [env.py: 1079] +05/13 19:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.9 deg [env.py: 1082] +05/13 19:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/13 19:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:19 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:36:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/13 19:36:20 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/13 19:36:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.171s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:20 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.632[m] 88.842[deg] [grasp_sample.py: 539] +05/13 19:36:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:36:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:36:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.74s (batch: 4.37s, save: 10.37s) [pipeline.py: 300] +05/13 19:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:36:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:36:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:21 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s: + episode_total: mean=165.78s, total=165.78s, count=1, min=165778.8ms, max=165778.8ms + sensor_polling: mean=392.6ms, total=107.18s, count=273, min=352.2ms, max=696.2ms + save_trajectories: mean=10.37s, total=10.37s, count=1, min=10370.4ms, max=10370.4ms + physics_step: mean=24.5ms, total=6.69s, count=273, min=21.2ms, max=51.4ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.8ms, max=4373.8ms + task_sampling: mean=533.6ms, total=533.6ms, count=1, min=533.6ms, max=533.6ms + task_specific_sample: mean=529.7ms, total=529.7ms, count=1, min=529.7ms, max=529.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=430.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:22 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: 256] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149684m [env.py: 870] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63589151 -0.97784428 -0.14968433] yaw=-50.0deg [env.py: 1019] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.9ms, total=217.9ms [env.py: 1075] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.978, -0.150) [env.py: 1079] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/13 19:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/13 19:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:23 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:36:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.147s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:29 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.655[m] 80.653[deg] [grasp_sample.py: 539] +05/13 19:36:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:36:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:36:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:36:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:36:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:36:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.02s (batch: 3.78s, save: 10.24s) [pipeline.py: 300] +05/13 19:36:34 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s: + episode_total: mean=154.27s, total=154.27s, count=1, min=154274.0ms, max=154274.0ms + sensor_polling: mean=397.1ms, total=104.84s, count=264, min=372.3ms, max=790.4ms + save_trajectories: mean=10.24s, total=10.24s, count=1, min=10240.6ms, max=10240.6ms + physics_step: mean=23.5ms, total=6.20s, count=264, min=21.2ms, max=61.2ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.1ms, max=3782.1ms + task_sampling: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms + task_specific_sample: mean=470.9ms, total=470.9ms, count=1, min=470.9ms, max=470.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=431.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:36:35 INFO: [Worker 0] Object is not in grasp! 0.00155 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:36:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 161 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:36 INFO: [Worker 0] Feasibility-checked 161 grasps in 0.588s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:36 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.066[m] 0.515[deg] [grasp_sample.py: 539] +05/13 19:36:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:36:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:36 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: 256] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134093m [env.py: 870] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.67140437 -0.92447239 -0.13409282] yaw=-95.2deg [env.py: 1019] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.0ms, total=220.0ms [env.py: 1075] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.671, -0.924, -0.134) [env.py: 1079] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.2 deg [env.py: 1082] +05/13 19:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:36:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:36 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 355 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.552s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:41 INFO: [Worker 0] Feasible grasp found 377 (originally 70): w/ 0.683[m] 88.294[deg] [grasp_sample.py: 539] +05/13 19:36:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:36:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:36:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:36:47 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=2.98s: + episode_total: mean=54.56s, total=218.26s, count=4, min=5428.8ms, max=153104.7ms + sensor_polling: mean=416.1ms, total=145.62s, count=350, min=373.1ms, max=768.0ms + physics_step: mean=24.6ms, total=8.60s, count=350, min=17.0ms, max=34.2ms + task_sampling: mean=745.2ms, total=2.98s, count=4, min=599.4ms, max=1029.8ms + task_specific_sample: mean=740.7ms, total=2.96s, count=4, min=593.1ms, max=1026.8ms + scene_randomize: mean=2.2ms, total=8.9ms, count=4, min=1.3ms, max=2.9ms + mj_forward_sync: mean=436.1us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=24.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:36:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:49 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: 256] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164453m [env.py: 870] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06276922 -1.0977217 -0.16445256] yaw=-50.9deg [env.py: 1019] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.84089221 -0.91707936 -0.16445256] yaw=-66.4deg [env.py: 1019] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54211647 -0.96733068 -0.16445256] yaw=-40.4deg [env.py: 1019] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.9ms, total=138.0ms [env.py: 1075] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -1.098, -0.164) [env.py: 1079] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/13 19:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:49 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.598s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:36:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:36:53 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: 256] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146949m [env.py: 870] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66493541 -0.95101821 -0.14694904] yaw=-96.1deg [env.py: 1019] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09281104 -1.16001472 -0.14694904] yaw=-52.7deg [env.py: 1019] +05/13 19:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.7ms, total=246.8ms [env.py: 1075] +05/13 19:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.951, -0.147) [env.py: 1079] +05/13 19:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.1 deg [env.py: 1082] +05/13 19:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/13 19:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:36:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:36:54 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/13 19:36:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 19:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:36:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:36:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:36:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.792s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:36:55 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.661[m] 92.150[deg] [grasp_sample.py: 539] +05/13 19:36:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:36:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:36:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:36:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:37:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:37:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.232s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:10 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.562[m] 66.098[deg] [grasp_sample.py: 539] +05/13 19:37:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:37:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:37:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:37:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:37:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:37:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:37:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:24 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.542[m] 71.065[deg] [grasp_sample.py: 539] +05/13 19:37:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.954s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:25 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.562[m] 66.097[deg] [grasp_sample.py: 539] +05/13 19:37:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:37:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:37:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:26 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:37:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:37:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:37:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:37:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:37:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:37:27 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: 256] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133945m [env.py: 870] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:37:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.62075825 -0.97273118 -0.13394536] yaw=-80.2deg [env.py: 1019] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07259494 -1.23783284 -0.13394536] yaw=-26.5deg [env.py: 1019] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:37:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.1ms, total=266.2ms [env.py: 1075] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.973, -0.134) [env.py: 1079] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.2 deg [env.py: 1082] +05/13 19:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:37:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:37:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:37:28 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/13 19:37:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:37:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.069s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:29 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.645[m] 93.677[deg] [grasp_sample.py: 539] +05/13 19:37:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:37:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:37:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:33 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:37:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:37:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 190 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:34 INFO: [Worker 0] Feasibility-checked 190 grasps in 0.729s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:34 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.063[m] 0.366[deg] [grasp_sample.py: 539] +05/13 19:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:37:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:37:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:37:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.473s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:40 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.562[m] 66.097[deg] [grasp_sample.py: 539] +05/13 19:37:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:37:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:37:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:37:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:37:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:37:53 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:37:53 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.53s: + episode_total: mean=76.76s, total=76.76s, count=1, min=76762.1ms, max=76762.1ms + sensor_polling: mean=387.2ms, total=27.49s, count=71, min=374.4ms, max=451.0ms + physics_step: mean=19.0ms, total=1.35s, count=71, min=14.2ms, max=28.6ms + task_sampling: mean=531.5ms, total=531.5ms, count=1, min=531.5ms, max=531.5ms + task_specific_sample: mean=527.4ms, total=527.4ms, count=1, min=527.4ms, max=527.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=38.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:37:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:37:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:37:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:37:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:37:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:37:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:37:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124449m [env.py: 870] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:37:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63899679 -0.72449306 -0.12444892] yaw=-66.4deg [env.py: 1019] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:37:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.1ms [env.py: 1075] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.724, -0.124) [env.py: 1079] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/13 19:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:37:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:37:55 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/13 19:37:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:37:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.796s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:37:58 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:37:59 INFO: [Worker 0] Object is not in grasp! 0.00089 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:37:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:37:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:37:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:37:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 173 non-colliding grasps [grasp_sample.py: 465] +05/13 19:37:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:37:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:37:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:37:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:37:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:37:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:37:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117200m [env.py: 870] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:37:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37123866 -0.95746502 -0.11720041] yaw=-49.3deg [env.py: 1019] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:37:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.3ms [env.py: 1075] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -0.957, -0.117) [env.py: 1079] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/13 19:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:37:59 INFO: [Worker 0] Feasibility-checked 173 grasps in 0.537s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:37:59 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.069[m] 0.495[deg] [grasp_sample.py: 539] +05/13 19:37:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:37:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:37:59 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/13 19:38:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 19:38:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:38:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.502s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:38:07 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.748[m] 92.255[deg] [grasp_sample.py: 539] +05/13 19:38:08 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:38:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:38:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:38:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:38:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:38:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:38:10 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: 256] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171570m [env.py: 870] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:38:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59076235 -0.79369695 -0.17156969] yaw=-93.2deg [env.py: 1019] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15968425 -1.38587715 -0.17156969] yaw=4.9deg [env.py: 1019] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57818426 -0.81063992 -0.17156969] yaw=-59.5deg [env.py: 1019] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:38:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.2ms [env.py: 1075] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.591, -0.794, -0.172) [env.py: 1079] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.2 deg [env.py: 1082] +05/13 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:38:10 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/13 19:38:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 19:38:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 341 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:38:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:38:26 INFO: [Worker 0] Object is not in grasp! 0.00155 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:38:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 186 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:27 INFO: [Worker 0] Feasibility-checked 186 grasps in 0.630s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:38:27 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.062[m] 0.340[deg] [grasp_sample.py: 539] +05/13 19:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:38:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:38:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:38:37 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:38:37 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=3.01s: + episode_total: mean=33.79s, total=168.97s, count=5, min=3592.6ms, max=138429.5ms + sensor_polling: mean=406.8ms, total=122.04s, count=300, min=348.0ms, max=745.8ms + physics_step: mean=26.0ms, total=7.80s, count=300, min=16.4ms, max=35.4ms + task_sampling: mean=602.1ms, total=3.01s, count=5, min=500.7ms, max=742.5ms + task_specific_sample: mean=598.8ms, total=2.99s, count=5, min=497.6ms, max=739.1ms + scene_randomize: mean=1.5ms, total=7.7ms, count=5, min=1.1ms, max=2.2ms + mj_forward_sync: mean=486.2us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=13.6us, 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] +05/13 19:38:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:38:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:38:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:38:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:38:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:38:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187913m [env.py: 870] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:38:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.81869508 -0.90756212 -0.18791296] yaw=-84.9deg [env.py: 1019] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36199946 -0.90810347 -0.18791296] yaw=-70.3deg [env.py: 1019] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:38:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=288.7ms, total=288.8ms [env.py: 1075] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.819, -0.908, -0.188) [env.py: 1079] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.9 deg [env.py: 1082] +05/13 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:38:39 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/13 19:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/13 19:38:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 347 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:38:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:38:40 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.633[m] 98.025[deg] [grasp_sample.py: 539] +05/13 19:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:38:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:38:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:38:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 212 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:46 INFO: [Worker 0] Feasibility-checked 212 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:38:46 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.050[m] 2.835[deg] [grasp_sample.py: 539] +05/13 19:38:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:38:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:38:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 35.865s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:38:46 INFO: [Worker 0] Feasible grasp found 478 (originally 171): w/ 0.798[m] 108.261[deg] [grasp_sample.py: 539] +05/13 19:38:48 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:38:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:38:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:38:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:38:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:38:49 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: 256] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108218m [env.py: 870] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:38:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4383504 -0.77773222 -0.1082183 ] yaw=-88.0deg [env.py: 1019] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07104741 -1.41243126 -0.1082183 ] yaw=-17.6deg [env.py: 1019] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.7ms [env.py: 1075] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.778, -0.108) [env.py: 1079] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.0 deg [env.py: 1082] +05/13 19:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:38:49 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/13 19:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 350 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:38:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.436s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:38:52 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:38:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:38:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:38:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:38:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:38:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:38:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135625m [env.py: 870] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:38:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10911474 -1.35292283 -0.13562481] yaw=-17.6deg [env.py: 1019] +05/13 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=286.0ms, total=286.0ms [env.py: 1075] +05/13 19:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.109, -1.353, -0.136) [env.py: 1079] +05/13 19:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.6 deg [env.py: 1082] +05/13 19:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/13 19:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:38:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:38:54 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/13 19:38:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/13 19:38:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:38:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:38:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:38:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:38:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.551s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:38:59 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.690[m] 88.763[deg] [grasp_sample.py: 539] +05/13 19:38:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:38:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:38:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:39:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/13 19:39:01 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/13 19:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:10 INFO: [Worker 0] Object is not in grasp! 0.00169 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:39:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:39:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 196 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:11 INFO: [Worker 0] Feasibility-checked 196 grasps in 0.728s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:11 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.063[m] 0.347[deg] [grasp_sample.py: 539] +05/13 19:39:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:39:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.269s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:13 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.464[m] 66.671[deg] [grasp_sample.py: 539] +05/13 19:39:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:39:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:39:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.76s (batch: 4.14s, save: 9.62s) [pipeline.py: 300] +05/13 19:39:15 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.53s: + episode_total: mean=172.66s, total=172.66s, count=1, min=172656.4ms, max=172656.4ms + sensor_polling: mean=425.3ms, total=113.97s, count=268, min=354.2ms, max=700.0ms + save_trajectories: mean=9.62s, total=9.62s, count=1, min=9616.9ms, max=9616.9ms + physics_step: mean=26.5ms, total=7.11s, count=268, min=21.5ms, max=44.4ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4140.1ms, max=4140.1ms + task_sampling: mean=526.2ms, total=526.2ms, count=1, min=526.2ms, max=526.2ms + task_specific_sample: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=447.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:39:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:39:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:39:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:39:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:39:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:39:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:39:17 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: 256] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134132m [env.py: 870] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:39:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.77448482 -0.86034078 -0.13413216] yaw=-70.7deg [env.py: 1019] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:39:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.1ms, total=250.2ms [env.py: 1075] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.774, -0.860, -0.134) [env.py: 1079] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/13 19:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:39:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:39:17 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/13 19:39:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/13 19:39:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.589s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:20 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.674[m] 87.807[deg] [grasp_sample.py: 539] +05/13 19:39:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:39:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:39:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.038s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:29 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.455[m] 65.045[deg] [grasp_sample.py: 539] +05/13 19:39:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:39:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:39:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:39:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:39:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:39:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:39:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:39:31 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: 256] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172808m [env.py: 870] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:39:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43434533 -1.03968338 -0.17280817] yaw=-80.5deg [env.py: 1019] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17264575 -1.36275063 -0.17280817] yaw=-39.3deg [env.py: 1019] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:39:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.8ms, total=228.8ms [env.py: 1075] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.040, -0.173) [env.py: 1079] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.5 deg [env.py: 1082] +05/13 19:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:39:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:39:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:39:32 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/13 19:39:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:39:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 350 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:36 INFO: [Worker 0] Object is not in grasp! 0.00190 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:39:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:39:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 158 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:36 INFO: [Worker 0] Feasibility-checked 158 grasps in 0.517s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:36 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.066[m] 0.529[deg] [grasp_sample.py: 539] +05/13 19:39:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.254s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:37 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.721[m] 91.903[deg] [grasp_sample.py: 539] +05/13 19:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:39:50 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=1.44s: + episode_total: mean=59.43s, total=178.29s, count=3, min=3212.8ms, max=142693.6ms + sensor_polling: mean=406.9ms, total=137.93s, count=339, min=367.3ms, max=710.5ms + physics_step: mean=24.4ms, total=8.29s, count=339, min=17.5ms, max=33.2ms + task_sampling: mean=480.9ms, total=1.44s, count=3, min=407.3ms, max=527.2ms + task_specific_sample: mean=477.7ms, total=1.43s, count=3, min=404.7ms, max=524.0ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.2ms + mj_forward_sync: mean=440.1us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, 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] +05/13 19:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154989m [env.py: 870] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29908069 -1.00394719 -0.15498933] yaw=-68.2deg [env.py: 1019] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50611349 -0.77430692 -0.15498933] yaw=-51.7deg [env.py: 1019] +05/13 19:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71662461 -0.91909387 -0.15498933] yaw=-101.1deg [env.py: 1019] +05/13 19:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.6ms [env.py: 1075] +05/13 19:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -1.004, -0.155) [env.py: 1079] +05/13 19:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/13 19:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/13 19:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:39:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:39:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:39:52 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/13 19:39:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/13 19:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:39:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:39:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:39:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.101s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:56 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.490[m] 59.627[deg] [grasp_sample.py: 539] +05/13 19:39:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.232s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:39:56 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.754[m] 87.621[deg] [grasp_sample.py: 539] +05/13 19:39:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:39:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:39:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:08 INFO: [Worker 0] Object is not in grasp! 0.00033 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:40:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:40:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:40:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:40:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.995s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:40:12 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.483[m] 76.249[deg] [grasp_sample.py: 539] +05/13 19:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:40:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:40:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:40:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.062s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:40:14 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.490[m] 59.631[deg] [grasp_sample.py: 539] +05/13 19:40:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:40:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:40:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:40:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.994s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:40:25 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/13 19:40:25 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: unsupported operand type(s) for %: 'NoneType' and 'int' [task_sampler.py: 396] +05/13 19:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:40:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:40:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:40:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:40:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:40:26 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: 256] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152620m [env.py: 870] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:40:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67704389 -0.69859964 -0.15262017] yaw=-61.0deg [env.py: 1019] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49806293 -1.02415642 -0.15262017] yaw=-69.8deg [env.py: 1019] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:40:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=372.4ms, total=372.4ms [env.py: 1075] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.677, -0.699, -0.153) [env.py: 1079] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/13 19:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/13 19:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:40:27 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/13 19:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:40:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:40:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/13 19:40:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.689s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:40:30 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:40:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:40:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:40:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:40:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:40:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:40:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141909m [env.py: 870] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:40:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20761052 -1.00794952 -0.1419086 ] yaw=-72.6deg [env.py: 1019] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10414615 -1.37864124 -0.1419086 ] yaw=-19.1deg [env.py: 1019] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25290541 -1.10549079 -0.1419086 ] yaw=-34.4deg [env.py: 1019] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:40:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.8ms, total=234.9ms [env.py: 1075] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.008, -0.142) [env.py: 1079] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/13 19:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/13 19:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.667s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:40:32 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.490[m] 59.631[deg] [grasp_sample.py: 539] +05/13 19:40:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:40:32 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/13 19:40:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:40:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/13 19:40:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:40:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.858s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:40:35 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:40:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:40:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:40:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:40:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:40:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:40:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:40:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:40:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:40:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:40:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195340m [env.py: 870] +05/13 19:40:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:40:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.04836547 -1.20749651 -0.19533995] yaw=-7.4deg [env.py: 1019] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18146661 -1.1193477 -0.19533995] yaw=-51.1deg [env.py: 1019] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.80055875 -0.66956173 -0.19533995] yaw=-80.6deg [env.py: 1019] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:40:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=351.9ms, total=351.9ms [env.py: 1075] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.048, -1.207, -0.195) [env.py: 1079] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.4 deg [env.py: 1082] +05/13 19:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/13 19:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:40:37 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/13 19:40:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:40:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.728s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:40:40 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:40:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:40:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:40:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:40:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170799m [env.py: 870] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8387489 -0.77456684 -0.17079877] yaw=-109.7deg [env.py: 1019] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03016414 -1.23389979 -0.17079877] yaw=-18.5deg [env.py: 1019] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.07199604 -1.31852118 -0.17079877] yaw=-40.3deg [env.py: 1019] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:40:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.5ms, total=212.5ms [env.py: 1075] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.839, -0.775, -0.171) [env.py: 1079] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.7 deg [env.py: 1082] +05/13 19:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/13 19:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:40:42 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/13 19:40:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/13 19:40:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:40:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:40:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:40:46 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:40:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.58s: + episode_total: mean=89.16s, total=89.16s, count=1, min=89159.8ms, max=89159.8ms + sensor_polling: mean=395.1ms, total=30.42s, count=77, min=361.7ms, max=661.1ms + physics_step: mean=20.5ms, total=1.58s, count=77, min=14.4ms, max=38.1ms + task_sampling: mean=579.2ms, total=579.2ms, count=1, min=579.2ms, max=579.2ms + task_specific_sample: mean=574.5ms, total=574.5ms, count=1, min=574.5ms, max=574.5ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=610.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=28.8us, 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] +05/13 19:40:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:40:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:40:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:40:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:40:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:40:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:40:47 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: 256] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135245m [env.py: 870] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:40:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.71222906 -0.85131534 -0.13524489] yaw=-102.8deg [env.py: 1019] +05/13 19:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:40:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=287.2ms, total=287.2ms [env.py: 1075] +05/13 19:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.712, -0.851, -0.135) [env.py: 1079] +05/13 19:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.8 deg [env.py: 1082] +05/13 19:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/13 19:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:40:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:40:48 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/13 19:40:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/13 19:40:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:40:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:40:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:40:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:40:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:41:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.076s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:41:00 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.779[m] 92.525[deg] [grasp_sample.py: 539] +05/13 19:41:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:41:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:41:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:41:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:41:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:41:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:41:03 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: 256] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156377m [env.py: 870] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:41:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17429792 -1.36077929 -0.15637713] yaw=-21.3deg [env.py: 1019] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19890669 -1.30965427 -0.15637713] yaw=-28.6deg [env.py: 1019] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.72979742 -0.95670903 -0.15637713] yaw=-70.7deg [env.py: 1019] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.3ms, total=214.4ms [env.py: 1075] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.361, -0.156) [env.py: 1079] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.3 deg [env.py: 1082] +05/13 19:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:41:04 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/13 19:41:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/13 19:41:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:41:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:41:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/13 19:41:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.074s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:41:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.601[m] 80.327[deg] [grasp_sample.py: 539] +05/13 19:41:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.697s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:41:06 INFO: [Worker 0] Feasible grasp found 425 (originally 118): w/ 0.754[m] 92.827[deg] [grasp_sample.py: 539] +05/13 19:41:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:41:06 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:41:07 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:41:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:41:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:41:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:41:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:41:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:41:08 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: 256] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189332m [env.py: 870] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:41:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=207.6ms, total=207.7ms [env.py: 1105] +05/13 19:41:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:41:08 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:41:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:41:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:41:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:41:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:41:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:41:08 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: 256] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163847m [env.py: 870] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:41:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=242.7ms, total=242.7ms [env.py: 1105] +05/13 19:41:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:41:09 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] +05/13 19:41:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:41:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:41:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:41:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:41:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:41:09 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: 256] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177349m [env.py: 870] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:41:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28025933 -1.04846447 -0.17734881] yaw=-28.3deg [env.py: 1019] +05/13 19:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51415374 -0.791745 -0.17734881] yaw=-49.7deg [env.py: 1019] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.81939715 -0.81464592 -0.17734881] yaw=-105.5deg [env.py: 1019] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=225.5ms, total=225.6ms [env.py: 1075] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.048, -0.177) [env.py: 1079] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.3 deg [env.py: 1082] +05/13 19:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/13 19:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:41:10 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/13 19:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:41:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:41:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 359 non-colliding grasps [grasp_sample.py: 465] +05/13 19:41:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:41:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:41:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:41:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:41:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:41:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:41:12 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: 256] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122547m [env.py: 870] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:41:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28891615 -1.17529369 -0.12254687] yaw=-65.3deg [env.py: 1019] +05/13 19:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:41:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/13 19:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.175, -0.123) [env.py: 1079] +05/13 19:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/13 19:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/13 19:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:41:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:41:13 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/13 19:41:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/13 19:41:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:41:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:41:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:41:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.296s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:41:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.700[m] 79.950[deg] [grasp_sample.py: 539] +05/13 19:41:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:41:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:41:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:41:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:41:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.091s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:41:17 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.755[m] 80.602[deg] [grasp_sample.py: 539] +05/13 19:41:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:41:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:41:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:41:42 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:42:03 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:42:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:42:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/13 19:42:08 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/13 19:42:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:42:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:42:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:42:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:42:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.86s (batch: 3.68s, save: 10.18s) [pipeline.py: 300] +05/13 19:42:23 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=1.16s: + episode_total: mean=111.51s, total=223.01s, count=2, min=51756.1ms, max=171256.2ms + sensor_polling: mean=406.9ms, total=135.89s, count=334, min=350.3ms, max=737.2ms + save_trajectories: mean=10.18s, total=10.18s, count=1, min=10183.3ms, max=10183.3ms + physics_step: mean=26.8ms, total=8.96s, count=334, min=21.0ms, max=80.7ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3679.2ms, max=3679.2ms + task_sampling: mean=578.1ms, total=1.16s, count=2, min=576.8ms, max=579.5ms + task_specific_sample: mean=574.8ms, total=1.15s, count=2, min=573.7ms, max=575.9ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.1ms, max=1.5ms + mj_forward_sync: mean=504.8us, total=1.0ms, count=2, min=0.4ms, 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] +05/13 19:42:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:42:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:42:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:42:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:42:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:42:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142255m [env.py: 870] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:42:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.92017572 -0.89032188 -0.14225505] yaw=-62.2deg [env.py: 1019] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:42:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61148796 -0.96555173 -0.14225505] yaw=-70.0deg [env.py: 1019] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:42:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.4ms, total=272.5ms [env.py: 1075] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.920, -0.890, -0.142) [env.py: 1079] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/13 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:42:24 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/13 19:42:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/13 19:42:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:42:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:42:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:42:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.958s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:42:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.676[m] 89.402[deg] [grasp_sample.py: 539] +05/13 19:42:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:42:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:42:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:42:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:42:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:42:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:42:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:42:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/13 19:42:31 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/13 19:42:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:42:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:42:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.15s (batch: 4.34s, save: 9.81s) [pipeline.py: 300] +05/13 19:42:45 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.37s: + episode_total: mean=173.90s, total=173.90s, count=1, min=173901.8ms, max=173901.8ms + sensor_polling: mean=416.1ms, total=116.92s, count=281, min=367.3ms, max=797.4ms + save_trajectories: mean=9.81s, total=9.81s, count=1, min=9810.2ms, max=9810.2ms + physics_step: mean=25.4ms, total=7.13s, count=281, min=16.3ms, max=34.5ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4339.9ms, max=4339.9ms + task_sampling: mean=372.4ms, total=372.4ms, count=1, min=372.4ms, max=372.4ms + task_specific_sample: mean=369.4ms, total=369.4ms, count=1, min=369.4ms, max=369.4ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:42:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:42:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:42:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:42:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:42:47 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: 256] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109991m [env.py: 870] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:42:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39881867 -0.84631324 -0.10999085] yaw=-70.7deg [env.py: 1019] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45548157 -0.93293136 -0.10999085] yaw=-58.2deg [env.py: 1019] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11884902 -1.19737435 -0.10999085] yaw=-39.1deg [env.py: 1019] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.6ms, total=158.7ms [env.py: 1075] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.846, -0.110) [env.py: 1079] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/13 19:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:42:47 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/13 19:42:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/13 19:42:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:42:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:42:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.741s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:42:50 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:42:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:42:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:42:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:42:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:42:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:42:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117588m [env.py: 870] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:42:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.83579952 -0.93802959 -0.11758816] yaw=-79.4deg [env.py: 1019] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:42:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=268.1ms, total=268.1ms [env.py: 1075] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.836, -0.938, -0.118) [env.py: 1079] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg [env.py: 1082] +05/13 19:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/13 19:42:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:42:52 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/13 19:42:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/13 19:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:42:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:42:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/13 19:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:42:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:42:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:42:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:42:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:42:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.773s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:42:54 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.651[m] 91.639[deg] [grasp_sample.py: 539] +05/13 19:42:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.667s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:42:55 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.549[m] 67.681[deg] [grasp_sample.py: 539] +05/13 19:42:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:42:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:42:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:42:55 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:42:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162992m [env.py: 870] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25273711 -1.00829666 -0.16299212] yaw=-67.3deg [env.py: 1019] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09874236 -1.13520807 -0.16299212] yaw=-23.4deg [env.py: 1019] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26053802 -1.31198463 -0.16299212] yaw=-18.7deg [env.py: 1019] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=185.5ms, total=185.6ms [env.py: 1075] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -1.008, -0.163) [env.py: 1079] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/13 19:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:42:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:42:57 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/13 19:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/13 19:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:42:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:42:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.920s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:02 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.754[m] 91.802[deg] [grasp_sample.py: 539] +05/13 19:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:03 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:43:03 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/13 19:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:43:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:43:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:43:04 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: 256] +05/13 19:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102854m [env.py: 870] +05/13 19:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.68766978 -0.88590226 -0.10285424] yaw=-93.5deg [env.py: 1019] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:43:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=251.0ms, total=251.0ms [env.py: 1075] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.688, -0.886, -0.103) [env.py: 1079] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.5 deg [env.py: 1082] +05/13 19:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/13 19:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:43:05 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/13 19:43:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 19:43:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.369s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:08 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.719[m] 88.396[deg] [grasp_sample.py: 539] +05/13 19:43:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:43:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:43:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:43:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:43:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:10 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.549[m] 67.680[deg] [grasp_sample.py: 539] +05/13 19:43:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:43:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:43:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:16 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:22 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:43:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.666s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:24 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.549[m] 67.680[deg] [grasp_sample.py: 539] +05/13 19:43:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:43:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:43:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:43:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:43:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:43:39 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:43:39 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.58s: + episode_total: mean=74.85s, total=74.85s, count=1, min=74847.5ms, max=74847.5ms + sensor_polling: mean=394.6ms, total=27.23s, count=69, min=353.9ms, max=705.0ms + physics_step: mean=19.6ms, total=1.35s, count=69, min=14.3ms, max=27.2ms + task_sampling: mean=579.8ms, total=579.8ms, count=1, min=579.8ms, max=579.8ms + task_specific_sample: mean=576.0ms, total=576.0ms, count=1, min=576.0ms, max=576.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:43:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:43:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:43:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:43:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:43:40 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: 256] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115643m [env.py: 870] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:43:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33048024 -0.97838416 -0.11564312] yaw=-22.9deg [env.py: 1019] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4612156 -0.84869553 -0.11564312] yaw=-79.4deg [env.py: 1019] +05/13 19:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.6ms, total=336.6ms [env.py: 1075] +05/13 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -0.978, -0.116) [env.py: 1079] +05/13 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.9 deg [env.py: 1082] +05/13 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/13 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:43:41 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/13 19:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 19:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:43:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/13 19:43:41 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/13 19:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:43:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:43:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.676s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:43 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.516[m] 59.802[deg] [grasp_sample.py: 539] +05/13 19:43:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:43:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:43:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:43:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.303s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:45 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.793[m] 87.549[deg] [grasp_sample.py: 539] +05/13 19:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:47 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:43:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:43:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:43:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:43:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:43:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117704m [env.py: 870] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:43:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85211591 -0.80776641 -0.11770404] yaw=-100.7deg [env.py: 1019] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.85509791 -0.69824893 -0.11770404] yaw=-112.6deg [env.py: 1019] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05533206 -1.39622808 -0.11770404] yaw=6.3deg [env.py: 1019] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.6ms, total=212.7ms [env.py: 1075] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.852, -0.808, -0.118) [env.py: 1079] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.7 deg [env.py: 1082] +05/13 19:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:43:49 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/13 19:43:49 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:43:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/13 19:43:49 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/13 19:43:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/13 19:43:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 341 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:43:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:43:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.81s (batch: 4.61s, save: 10.20s) [pipeline.py: 300] +05/13 19:43:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.59s: + episode_total: mean=46.22s, total=184.87s, count=4, min=217.7ms, max=167201.8ms + sensor_polling: mean=402.2ms, total=111.01s, count=276, min=358.6ms, max=671.7ms + save_trajectories: mean=10.20s, total=10.20s, count=1, min=10202.3ms, max=10202.3ms + physics_step: mean=25.2ms, total=6.96s, count=276, min=21.5ms, max=38.0ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4605.7ms, max=4605.7ms + task_specific_sample: mean=446.6ms, total=1.79s, count=4, min=213.3ms, max=568.1ms + task_sampling: mean=528.5ms, total=1.59s, count=3, min=491.4ms, max=572.1ms + task_sampling_failed: mean=217.6ms, total=217.6ms, count=1, min=217.6ms, max=217.6ms + scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.2ms, max=2.5ms + mj_forward_sync: mean=502.7us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=21.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:43:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:43:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:43:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:43:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:43:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:43:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:43:58 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: 256] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122646m [env.py: 870] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:43:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23705446 -1.22121141 -0.12264585] yaw=-10.5deg [env.py: 1019] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29180986 -1.17606921 -0.12264585] yaw=-68.6deg [env.py: 1019] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77622151 -0.81181088 -0.12264585] yaw=-98.2deg [env.py: 1019] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:43:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.6ms, total=145.7ms [env.py: 1075] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.221, -0.123) [env.py: 1079] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.5 deg [env.py: 1082] +05/13 19:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:43:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:43:59 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/13 19:43:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/13 19:43:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:43:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:43:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.726s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:43:59 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.516[m] 59.806[deg] [grasp_sample.py: 539] +05/13 19:43:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:44:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:44:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.81s (batch: 4.42s, save: 10.39s) [pipeline.py: 300] +05/13 19:44:04 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=5.46s: + episode_total: mean=32.19s, total=354.04s, count=11, min=253.4ms, max=171826.8ms + sensor_polling: mean=396.6ms, total=181.24s, count=457, min=359.8ms, max=774.4ms + physics_step: mean=23.8ms, total=10.88s, count=457, min=17.1ms, max=69.2ms + save_trajectories: mean=10.39s, total=10.39s, count=1, min=10394.4ms, max=10394.4ms + task_specific_sample: mean=516.6ms, total=5.68s, count=11, min=249.1ms, max=684.9ms + task_sampling: mean=546.5ms, total=5.46s, count=10, min=449.5ms, max=687.7ms + save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4417.4ms, max=4417.4ms + task_sampling_failed: mean=253.4ms, total=253.4ms, count=1, min=253.4ms, max=253.4ms + scene_randomize: mean=1.4ms, total=15.6ms, count=11, min=1.1ms, max=1.9ms + mj_forward_sync: mean=428.3us, total=4.7ms, count=11, min=0.4ms, max=0.4ms + policy_setup: mean=18.9us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.964s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.731[m] 90.941[deg] [grasp_sample.py: 539] +05/13 19:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173750m [env.py: 870] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02172739 -1.38578276 -0.17374978] yaw=-46.9deg [env.py: 1019] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20241289 -1.11718817 -0.17374978] yaw=-54.4deg [env.py: 1019] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.1ms [env.py: 1075] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -1.386, -0.174) [env.py: 1079] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/13 19:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:06 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:44:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:06 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:07 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: 256] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116008m [env.py: 870] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.90476609 -0.73937262 -0.11600816] yaw=-114.0deg [env.py: 1019] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.7ms, total=233.8ms [env.py: 1075] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.905, -0.739, -0.116) [env.py: 1079] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.0 deg [env.py: 1082] +05/13 19:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/13 19:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:08 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.743s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:44:09 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:11 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: 256] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131804m [env.py: 870] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=278.9ms, total=278.9ms [env.py: 1105] +05/13 19:44:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:44:11 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] +05/13 19:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:44:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:44:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:13 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: 256] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152897m [env.py: 870] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=323.4ms, total=323.4ms [env.py: 1105] +05/13 19:44:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:44:13 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:44:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.607s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:14 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.516[m] 59.806[deg] [grasp_sample.py: 539] +05/13 19:44:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158840m [env.py: 870] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31863427 -1.07315429 -0.15884037] yaw=-20.8deg [env.py: 1019] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.9ms, total=265.0ms [env.py: 1075] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.073, -0.159) [env.py: 1079] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.8 deg [env.py: 1082] +05/13 19:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 26.279s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:15 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.748[m] 98.308[deg] [grasp_sample.py: 539] +05/13 19:44:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:15 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.599s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:25 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.722[m] 81.345[deg] [grasp_sample.py: 539] +05/13 19:44:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:44:28 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:44:28 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:44:28 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=1.97s: + episode_total: mean=24.35s, total=97.41s, count=4, min=3426.4ms, max=84038.6ms + sensor_polling: mean=410.3ms, total=32.82s, count=80, min=379.4ms, max=761.4ms + task_sampling: mean=493.5ms, total=1.97s, count=4, min=449.3ms, max=551.4ms + task_specific_sample: mean=489.5ms, total=1.96s, count=4, min=444.7ms, max=548.4ms + physics_step: mean=20.4ms, total=1.63s, count=80, min=14.2ms, max=29.8ms + scene_randomize: mean=2.3ms, total=9.1ms, count=4, min=1.1ms, max=3.0ms + mj_forward_sync: mean=550.8us, total=2.2ms, count=4, min=0.4ms, max=0.7ms + policy_setup: mean=20.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:44:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:30 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: 256] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104056m [env.py: 870] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36487305 -0.80475884 -0.1040565 ] yaw=-38.3deg [env.py: 1019] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71691613 -0.7654743 -0.1040565 ] yaw=-70.5deg [env.py: 1019] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85564019 -0.68146841 -0.1040565 ] yaw=-96.1deg [env.py: 1019] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms [env.py: 1075] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -0.805, -0.104) [env.py: 1079] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg [env.py: 1082] +05/13 19:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:30 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.650s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:44:33 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:35 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: 256] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121430m [env.py: 870] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13138487 -1.16389273 -0.12142971] yaw=-58.4deg [env.py: 1019] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.6ms, total=263.6ms [env.py: 1075] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.131, -1.164, -0.121) [env.py: 1079] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/13 19:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:35 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.717s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:44:38 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:39 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: 256] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107117m [env.py: 870] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.77530173 -0.65121958 -0.10711696] yaw=-73.5deg [env.py: 1019] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30901809 -1.25014615 -0.10711696] yaw=-62.9deg [env.py: 1019] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms [env.py: 1075] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.775, -0.651, -0.107) [env.py: 1079] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg [env.py: 1082] +05/13 19:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/13 19:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:40 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 33.141s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:41 INFO: [Worker 0] Feasible grasp found 487 (originally 180): w/ 0.788[m] 94.350[deg] [grasp_sample.py: 539] +05/13 19:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:43 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:44:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.680s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:44:43 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:44 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: 256] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134596m [env.py: 870] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:44 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: 256] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180595m [env.py: 870] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89006822 -0.92623875 -0.18059514] yaw=-80.7deg [env.py: 1019] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0396322 -1.28569052 -0.18059514] yaw=-12.7deg [env.py: 1019] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06966851 -1.12483183 -0.13459556] yaw=-55.7deg [env.py: 1019] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01963167 -1.22071513 -0.18059514] yaw=-15.3deg [env.py: 1019] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=285.0ms, total=285.1ms [env.py: 1075] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.890, -0.926, -0.181) [env.py: 1079] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.7 deg [env.py: 1082] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51065896 -0.99977535 -0.13459556] yaw=-38.2deg [env.py: 1019] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5261541 -1.04296441 -0.13459556] yaw=-50.4deg [env.py: 1019] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=440.2ms, total=440.3ms [env.py: 1075] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.070, -1.125, -0.135) [env.py: 1079] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/13 19:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:45 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:45 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:44:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:44:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:44:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.223s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:46 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.629[m] 96.400[deg] [grasp_sample.py: 539] +05/13 19:44:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.740s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:47 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.614[m] 72.708[deg] [grasp_sample.py: 539] +05/13 19:44:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.769s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:44:48 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:44:49 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167011m [env.py: 870] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30363384 -1.15301011 -0.16701103] yaw=-19.4deg [env.py: 1019] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30027967 -0.9024161 -0.16701103] yaw=-39.6deg [env.py: 1019] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=549.8ms, total=549.8ms [env.py: 1075] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.153, -0.167) [env.py: 1079] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.4 deg [env.py: 1082] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:50 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:44:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:44:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:44:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:44:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:44:50 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: 256] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176230m [env.py: 870] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:44:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61952001 -0.99172868 -0.17622986] yaw=-76.5deg [env.py: 1019] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36428756 -0.98012713 -0.17622986] yaw=-49.5deg [env.py: 1019] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.8ms, total=243.8ms [env.py: 1075] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.620, -0.992, -0.176) [env.py: 1079] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.5 deg [env.py: 1082] +05/13 19:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:44:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.305s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:44:51 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/13 19:44:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.186s [base_object_manipulation_planner_policy.py: 377] +05/13 19:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:44:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:44:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:44:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.254s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:52 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.584[m] 84.206[deg] [grasp_sample.py: 539] +05/13 19:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.767s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:44:53 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.652[m] 84.956[deg] [grasp_sample.py: 539] +05/13 19:44:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:44:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:44:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:44:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:45:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:45:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:45:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.274s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:45:16 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.488[m] 68.980[deg] [grasp_sample.py: 539] +05/13 19:45:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:45:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:45:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:45:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:45:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:45:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:45:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:45:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.134s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:45:33 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.484[m] 68.245[deg] [grasp_sample.py: 539] +05/13 19:45:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:45:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:45:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:45:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:45:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:45:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:45:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:45:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:45:48 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.484[m] 68.245[deg] [grasp_sample.py: 539] +05/13 19:45:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:45:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:45:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:46:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:46:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:46:01 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:46:02 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:46:02 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=1.60s: + episode_total: mean=40.24s, total=120.72s, count=3, min=7908.6ms, max=77653.8ms + sensor_polling: mean=399.0ms, total=29.12s, count=73, min=354.1ms, max=488.4ms + physics_step: mean=22.1ms, total=1.61s, count=73, min=14.5ms, max=71.5ms + task_sampling: mean=534.0ms, total=1.60s, count=3, min=470.5ms, max=601.2ms + task_specific_sample: mean=529.7ms, total=1.59s, count=3, min=466.0ms, max=597.3ms + scene_randomize: mean=2.3ms, total=7.0ms, count=3, min=1.9ms, max=3.0ms + mj_forward_sync: mean=441.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=18.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:46:02 INFO: [Worker 0] Object is not in grasp! 0.00134 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:46:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:46:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:46:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.170s, found 187 non-colliding grasps [grasp_sample.py: 465] +05/13 19:46:03 INFO: [Worker 0] Feasibility-checked 187 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:46:03 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.062[m] 0.343[deg] [grasp_sample.py: 539] +05/13 19:46:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:46:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:46:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:46:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:46:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:46:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:46:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:46:03 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: 256] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163592m [env.py: 870] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:46:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:46:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=392.1ms, total=392.1ms [env.py: 1105] +05/13 19:46:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:46:04 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:46:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:46:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:46:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:46:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:46:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:46:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:46:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139840m [env.py: 870] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:46:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55065431 -0.9643791 -0.13983996] yaw=-45.3deg [env.py: 1019] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:46:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50049622 -0.92043939 -0.13983996] yaw=-55.7deg [env.py: 1019] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1088062 -1.09072885 -0.13983996] yaw=-13.6deg [env.py: 1019] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:46:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=389.0ms, total=389.1ms [env.py: 1075] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.964, -0.140) [env.py: 1079] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/13 19:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:46:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:46:06 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/13 19:46:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 19:46:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:46:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:46:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:46:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.066s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:46:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.685[m] 91.778[deg] [grasp_sample.py: 539] +05/13 19:46:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:46:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:46:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:46:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:46:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:27 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:46:27 INFO: [Worker 0] Object is not in grasp! 0.00091 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:46:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:46:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:46:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:46:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 165 non-colliding grasps [grasp_sample.py: 465] +05/13 19:46:28 INFO: [Worker 0] Feasibility-checked 165 grasps in 0.580s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:46:28 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.067[m] 0.437[deg] [grasp_sample.py: 539] +05/13 19:46:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:46:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:46:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:46:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:52 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:46:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/13 19:46:52 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/13 19:46:53 INFO: [Worker 0] Object is not in grasp! 0.00125 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:46:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:46:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:46:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:46:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 190 non-colliding grasps [grasp_sample.py: 465] +05/13 19:46:54 INFO: [Worker 0] Feasibility-checked 190 grasps in 0.678s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:46:54 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.062[m] 0.317[deg] [grasp_sample.py: 539] +05/13 19:46:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:46:54 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:46:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:46:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:46:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:47:04 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:47:04 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=1.83s: + episode_total: mean=67.09s, total=201.27s, count=3, min=6366.3ms, max=134275.0ms + sensor_polling: mean=389.0ms, total=135.38s, count=348, min=346.2ms, max=725.5ms + physics_step: mean=24.9ms, total=8.68s, count=348, min=17.0ms, max=80.2ms + task_sampling: mean=610.3ms, total=1.83s, count=3, min=550.4ms, max=661.0ms + task_specific_sample: mean=606.2ms, total=1.82s, count=3, min=546.0ms, max=657.2ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.4ms, max=1.9ms + mj_forward_sync: mean=511.7us, total=1.5ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:47:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:47:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:47:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:47:06 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: 256] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179964m [env.py: 870] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84776706 -0.66672173 -0.17996445] yaw=-100.0deg [env.py: 1019] +05/13 19:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=809.0ms, total=809.0ms [env.py: 1075] +05/13 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.667, -0.180) [env.py: 1079] +05/13 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.0 deg [env.py: 1082] +05/13 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/13 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:47:07 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/13 19:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/13 19:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:47:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:47:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/13 19:47:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.480s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:47:10 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:47:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:47:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:47:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 18.45s (batch: 7.31s, save: 11.14s) [pipeline.py: 300] +05/13 19:47:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:47:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:47:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:47:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:47:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:47:11 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: 256] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138759m [env.py: 870] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:47:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30487481 -1.04482185 -0.13875875] yaw=-23.2deg [env.py: 1019] +05/13 19:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:47:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=422.3ms, total=422.3ms [env.py: 1075] +05/13 19:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -1.045, -0.139) [env.py: 1079] +05/13 19:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.2 deg [env.py: 1082] +05/13 19:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/13 19:47:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:12 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.03s: + episode_total: mean=45.31s, total=181.24s, count=4, min=292.1ms, max=177153.1ms + sensor_polling: mean=399.4ms, total=112.22s, count=281, min=371.6ms, max=821.7ms + save_trajectories: mean=11.14s, total=11.14s, count=1, min=11136.5ms, max=11136.5ms + save_batch_prep: mean=7.31s, total=7.31s, count=1, min=7308.8ms, max=7308.8ms + physics_step: mean=23.6ms, total=6.63s, count=281, min=16.9ms, max=72.9ms + task_specific_sample: mean=410.1ms, total=1.64s, count=4, min=286.6ms, max=544.1ms + task_sampling: mean=515.5ms, total=1.03s, count=2, min=484.4ms, max=546.6ms + task_sampling_failed: mean=312.8ms, total=625.5ms, count=2, min=292.1ms, max=333.4ms + scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.2ms, max=2.6ms + mj_forward_sync: mean=426.8us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, 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] +05/13 19:47:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:47:12 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/13 19:47:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:47:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:47:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:47:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 360 non-colliding grasps [grasp_sample.py: 465] +05/13 19:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:47:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:47:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:47:15 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: 256] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121614m [env.py: 870] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50220226 -1.06745736 -0.12161355] yaw=-79.0deg [env.py: 1019] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=272.0ms, total=272.0ms [env.py: 1075] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -1.067, -0.122) [env.py: 1079] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.0 deg [env.py: 1082] +05/13 19:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:47:15 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/13 19:47:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:47:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.208s [base_object_manipulation_planner_policy.py: 377] +05/13 19:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:47:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:47:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 350 non-colliding grasps [grasp_sample.py: 465] +05/13 19:47:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.561s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:47:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.759[m] 87.944[deg] [grasp_sample.py: 539] +05/13 19:47:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:47:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.407s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:47:18 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.659[m] 88.188[deg] [grasp_sample.py: 539] +05/13 19:47:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:47:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:47:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:47:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:47:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:47:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:47:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:47:22 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:47:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/13 19:47:22 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/13 19:47:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:47:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:47:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.93s (batch: 6.05s, save: 10.88s) [pipeline.py: 300] +05/13 19:47:40 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=2.91s: + episode_total: mean=36.84s, total=184.20s, count=5, min=3256.3ms, max=170564.7ms + sensor_polling: mean=416.3ms, total=111.58s, count=268, min=374.7ms, max=840.5ms + save_trajectories: mean=10.88s, total=10.88s, count=1, min=10881.0ms, max=10881.0ms + physics_step: mean=24.4ms, total=6.53s, count=268, min=17.2ms, max=43.7ms + save_batch_prep: mean=6.05s, total=6.05s, count=1, min=6050.4ms, max=6050.4ms + task_sampling: mean=581.8ms, total=2.91s, count=5, min=416.3ms, max=838.2ms + task_specific_sample: mean=578.9ms, total=2.89s, count=5, min=413.7ms, max=835.3ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=1.1ms, max=1.9ms + mj_forward_sync: mean=460.5us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=17.3us, 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] +05/13 19:47:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:47:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:47:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:47:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:47:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:47:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169675m [env.py: 870] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:47:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36965275 -0.92156641 -0.16967535] yaw=-76.8deg [env.py: 1019] +05/13 19:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:47:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.0ms [env.py: 1075] +05/13 19:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -0.922, -0.170) [env.py: 1079] +05/13 19:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.8 deg [env.py: 1082] +05/13 19:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/13 19:47:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:47:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:47:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:47:42 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/13 19:47:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/13 19:47:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:47:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:47:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/13 19:47:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.928s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:47:45 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.759[m] 89.535[deg] [grasp_sample.py: 539] +05/13 19:47:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:47:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:47:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:47:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:48:08 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:48:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:48:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:48:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:48:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/13 19:48:33 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/13 19:48:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:48:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:48:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:48:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:48:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:48:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:48:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.29s (batch: 6.09s, save: 10.19s) [pipeline.py: 300] +05/13 19:48:50 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.67s: + episode_total: mean=82.95s, total=165.91s, count=2, min=425.1ms, max=165480.3ms + sensor_polling: mean=395.6ms, total=109.59s, count=277, min=354.5ms, max=704.9ms + save_trajectories: mean=10.19s, total=10.19s, count=1, min=10191.7ms, max=10191.7ms + physics_step: mean=24.9ms, total=6.90s, count=277, min=16.7ms, max=52.8ms + save_batch_prep: mean=6.09s, total=6.09s, count=1, min=6095.0ms, max=6095.0ms + task_specific_sample: mean=532.2ms, total=1.06s, count=2, min=398.6ms, max=665.9ms + task_sampling: mean=669.5ms, total=669.5ms, count=1, min=669.5ms, max=669.5ms + task_sampling_failed: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms + mj_forward_sync: mean=441.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:48:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:48:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:48:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:48:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:48:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:48:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:48:52 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: 256] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146684m [env.py: 870] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:48:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51052988 -0.76293145 -0.146684 ] yaw=-85.6deg [env.py: 1019] +05/13 19:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:48:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.3ms, total=245.3ms [env.py: 1075] +05/13 19:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -0.763, -0.147) [env.py: 1079] +05/13 19:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.6 deg [env.py: 1082] +05/13 19:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/13 19:48:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:48:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:48:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:48:53 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/13 19:48:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/13 19:48:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:48:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:48:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:48:56 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.704s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:48:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:48:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:48:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:48:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:48:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:48:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:48:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:48:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133130m [env.py: 870] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:48:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53666775 -0.93384465 -0.13313044] yaw=-39.2deg [env.py: 1019] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:48:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.6ms, total=233.7ms [env.py: 1075] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -0.934, -0.133) [env.py: 1079] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/13 19:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:48:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:48:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:48:58 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/13 19:48:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/13 19:48:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:48:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:48:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:49:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:49:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.825s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:49:05 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.719[m] 86.696[deg] [grasp_sample.py: 539] +05/13 19:49:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:49:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:49:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:49:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:49:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:49:31 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:49:39 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:49:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:49:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/13 19:49:56 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/13 19:50:05 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:50:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/13 19:50:05 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/13 19:50:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:50:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:50:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.66s (batch: 4.85s, save: 11.81s) [pipeline.py: 300] +05/13 19:50:13 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/13 19:50:14 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.90s: + episode_total: mean=93.20s, total=186.41s, count=2, min=3868.1ms, max=182540.0ms + sensor_polling: mean=419.4ms, total=122.04s, count=291, min=359.4ms, max=773.8ms + save_trajectories: mean=11.81s, total=11.81s, count=1, min=11805.5ms, max=11805.5ms + physics_step: mean=27.5ms, total=8.01s, count=291, min=21.4ms, max=34.2ms + save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4849.4ms, max=4849.4ms + task_sampling: mean=950.0ms, total=1.90s, count=2, min=777.3ms, max=1122.7ms + task_specific_sample: mean=946.5ms, total=1.89s, count=2, min=773.4ms, max=1119.6ms + scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=1.2ms, max=1.3ms + mj_forward_sync: mean=510.5us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=12.4us, 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] +05/13 19:50:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195152m [env.py: 870] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.68820319 -0.96060773 -0.19515245] yaw=-77.1deg [env.py: 1019] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:50:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=259.8ms, total=259.9ms [env.py: 1075] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.688, -0.961, -0.195) [env.py: 1079] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.1 deg [env.py: 1082] +05/13 19:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:50:16 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/13 19:50:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/13 19:50:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:50:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.310s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:17 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.557[m] 89.977[deg] [grasp_sample.py: 539] +05/13 19:50:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:50:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:50:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:50:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:50:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.40s (batch: 5.56s, save: 9.83s) [pipeline.py: 300] +05/13 19:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:22 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.73s: + episode_total: mean=186.91s, total=186.91s, count=1, min=186907.2ms, max=186907.2ms + sensor_polling: mean=464.9ms, total=123.20s, count=265, min=395.9ms, max=898.9ms + save_trajectories: mean=9.83s, total=9.83s, count=1, min=9834.4ms, max=9834.4ms + physics_step: mean=27.0ms, total=7.16s, count=265, min=16.6ms, max=67.1ms + save_batch_prep: mean=5.56s, total=5.56s, count=1, min=5564.8ms, max=5564.8ms + task_sampling: mean=727.7ms, total=727.7ms, count=1, min=727.7ms, max=727.7ms + task_specific_sample: mean=720.6ms, total=720.6ms, count=1, min=720.6ms, max=720.6ms + scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms + mj_forward_sync: mean=435.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:50:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:24 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: 256] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148924m [env.py: 870] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=257.0ms, total=257.0ms [env.py: 1105] +05/13 19:50:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:50:24 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:26 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: 256] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185726m [env.py: 870] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22367891 -1.05995986 -0.1857257 ] yaw=-38.4deg [env.py: 1019] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44222749 -0.98470929 -0.1857257 ] yaw=-75.2deg [env.py: 1019] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09619466 -1.12601511 -0.1857257 ] yaw=-8.9deg [env.py: 1019] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.6ms [env.py: 1075] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -1.060, -0.186) [env.py: 1079] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.4 deg [env.py: 1082] +05/13 19:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:50:27 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/13 19:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/13 19:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:50:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:50:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:50:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 223 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.943s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:30 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.701[m] 84.166[deg] [grasp_sample.py: 539] +05/13 19:50:31 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:50:33 INFO: [Worker 0] Feasibility-checked 223 grasps in 4.504s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:33 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.056[m] 2.060[deg] [grasp_sample.py: 539] +05/13 19:50:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196256m [env.py: 870] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2915739 -1.25099554 -0.19625622] yaw=-20.6deg [env.py: 1019] +05/13 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.73892014 -0.80310146 -0.19625622] yaw=-89.7deg [env.py: 1019] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.88317886 -0.896308 -0.19625622] yaw=-102.9deg [env.py: 1019] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.3ms [env.py: 1075] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -1.251, -0.196) [env.py: 1079] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.6 deg [env.py: 1082] +05/13 19:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/13 19:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:50:34 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/13 19:50:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 19:50:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:35 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:50:35 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.191s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:35 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.581[m] 83.396[deg] [grasp_sample.py: 539] +05/13 19:50:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:50:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:50:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:36 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: 256] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191108m [env.py: 870] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14713026 -1.26148532 -0.19110801] yaw=-48.5deg [env.py: 1019] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02698849 -1.3303311 -0.19110801] yaw=-30.0deg [env.py: 1019] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20141008 -1.27107927 -0.19110801] yaw=-45.3deg [env.py: 1019] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.4ms [env.py: 1075] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.147, -1.261, -0.191) [env.py: 1079] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/13 19:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:50:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:50:37 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/13 19:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/13 19:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/13 19:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/13 19:50:40 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/13 19:50:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.147s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:46 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.689[m] 87.879[deg] [grasp_sample.py: 539] +05/13 19:50:48 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:50:48 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/13 19:50:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:49 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: 256] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172833m [env.py: 870] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77285186 -0.78324742 -0.17283337] yaw=-91.8deg [env.py: 1019] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4188487 -0.84049661 -0.17283337] yaw=-72.2deg [env.py: 1019] +05/13 19:50:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:50:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=337.1ms, total=337.2ms [env.py: 1075] +05/13 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.773, -0.783, -0.173) [env.py: 1079] +05/13 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.8 deg [env.py: 1082] +05/13 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/13 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:50:50 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/13 19:50:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/13 19:50:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 250 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 19:50:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/13 19:50:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.48s (batch: 4.30s, save: 10.18s) [pipeline.py: 300] +05/13 19:50:55 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.65s: + episode_total: mean=193.67s, total=193.67s, count=1, min=193666.0ms, max=193666.0ms + sensor_polling: mean=460.4ms, total=131.68s, count=286, min=389.3ms, max=947.2ms + save_trajectories: mean=10.18s, total=10.18s, count=1, min=10176.3ms, max=10176.3ms + physics_step: mean=27.0ms, total=7.72s, count=286, min=21.5ms, max=38.8ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.3ms, max=4304.3ms + task_sampling: mean=645.7ms, total=645.7ms, count=1, min=645.7ms, max=645.7ms + task_specific_sample: mean=641.0ms, total=641.0ms, count=1, min=641.0ms, max=641.0ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=27.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:50:55 INFO: [Worker 0] Feasibility-checked 250 grasps in 5.024s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:55 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.688[m] 99.260[deg] [grasp_sample.py: 539] +05/13 19:50:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:50:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:50:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:50:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:50:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:50:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:50:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133183m [env.py: 870] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63896033 -0.95417655 -0.13318291] yaw=-59.0deg [env.py: 1019] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71634064 -0.74566393 -0.13318291] yaw=-61.7deg [env.py: 1019] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:50:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=260.0ms, total=260.0ms [env.py: 1075] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.954, -0.133) [env.py: 1079] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/13 19:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:50:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:50:57 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/13 19:50:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/13 19:50:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:50:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:50:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:50:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.516s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:50:59 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.625[m] 89.003[deg] [grasp_sample.py: 539] +05/13 19:50:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:50:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:50:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:51:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:23 INFO: [Worker 0] Object is not in grasp! 0.00148 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:51:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:51:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:51:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:51:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.197s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 19:51:24 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.794s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:51:24 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.030[m] 3.438[deg] [grasp_sample.py: 539] +05/13 19:51:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:51:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:51:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:51:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:51:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:44 INFO: [Worker 0] Object is not in grasp! 0.00081 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:51:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:51:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:51:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.212s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/13 19:51:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:51:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:51:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:51:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 90 non-colliding grasps [grasp_sample.py: 465] +05/13 19:51:45 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.679s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:51:45 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 7.353[deg] [grasp_sample.py: 539] +05/13 19:51:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:51:45 INFO: [Worker 0] Feasibility-checked 90 grasps in 0.584s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:51:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.056[m] 0.981[deg] [grasp_sample.py: 539] +05/13 19:51:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:51:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:51:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:51:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:51:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:51:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:51:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:52:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:52:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:52:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.180s, found 135 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:06 INFO: [Worker 0] Feasibility-checked 135 grasps in 0.594s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:06 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.048[m] 2.060[deg] [grasp_sample.py: 539] +05/13 19:52:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:52:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:52:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:06 INFO: [Worker 0] Object is not in grasp! 0.00134 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 96 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:07 INFO: [Worker 0] Feasibility-checked 96 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:07 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.031[m] 0.352[deg] [grasp_sample.py: 539] +05/13 19:52:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.199s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:13 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.942s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:13 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.023[m] 2.549[deg] [grasp_sample.py: 539] +05/13 19:52:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:26 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:52:26 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:52:26 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=0.60s: + episode_total: mean=130.87s, total=130.87s, count=1, min=130871.1ms, max=130871.1ms + sensor_polling: mean=407.9ms, total=114.20s, count=280, min=343.9ms, max=748.1ms + physics_step: mean=26.4ms, total=7.38s, count=280, min=16.4ms, max=82.6ms + task_sampling: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms + task_specific_sample: mean=599.3ms, total=599.3ms, count=1, min=599.3ms, max=599.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=439.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, 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] +05/13 19:52:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:28 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: 256] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106503m [env.py: 870] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36321791 -0.83289548 -0.10650334] yaw=-36.4deg [env.py: 1019] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=279.5ms, total=279.5ms [env.py: 1075] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -0.833, -0.107) [env.py: 1079] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg [env.py: 1082] +05/13 19:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:52:28 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/13 19:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 19:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:29 INFO: [Worker 0] Object is not in grasp! 0.00138 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.184s, found 61 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:29 INFO: [Worker 0] Feasibility-checked 61 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:29 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.040[m] 5.872[deg] [grasp_sample.py: 539] +05/13 19:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.624s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:52:31 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129032m [env.py: 870] +05/13 19:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=358.9ms, total=358.9ms [env.py: 1105] +05/13 19:52:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:52:33 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:52:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:34 INFO: [Worker 0] Object is not in grasp! 0.00151 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 126 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:35 INFO: [Worker 0] Feasibility-checked 126 grasps in 0.539s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:35 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.052[m] 2.433[deg] [grasp_sample.py: 539] +05/13 19:52:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170738m [env.py: 870] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37486569 -0.83174839 -0.17073772] yaw=-53.9deg [env.py: 1019] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00142595 -1.19223919 -0.17073772] yaw=-22.1deg [env.py: 1019] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44856902 -0.97147715 -0.17073772] yaw=-79.3deg [env.py: 1019] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:52:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.5ms [env.py: 1075] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.832, -0.171) [env.py: 1079] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg [env.py: 1082] +05/13 19:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:52:37 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/13 19:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s [base_object_manipulation_planner_policy.py: 377] +05/13 19:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:38 INFO: [Worker 0] Feasibility-checked 244 grasps in 32.013s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:38 INFO: [Worker 0] Feasible grasp found 312 (originally 5): w/ 0.125[m] 20.213[deg] [grasp_sample.py: 539] +05/13 19:52:39 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:52:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.860s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:52:40 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:52:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:41 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: 256] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145858m [env.py: 870] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.90277647 -0.66658516 -0.14585829] yaw=-83.4deg [env.py: 1019] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15925616 -1.36698574 -0.14585829] yaw=-33.2deg [env.py: 1019] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43660652 -1.113045 -0.14585829] yaw=-35.8deg [env.py: 1019] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=229.8ms, total=229.9ms [env.py: 1075] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.903, -0.667, -0.146) [env.py: 1079] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.4 deg [env.py: 1082] +05/13 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:52:41 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/13 19:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 19:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 246 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:42 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: 256] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119171m [env.py: 870] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13878063 -1.42748646 -0.11917104] yaw=-10.0deg [env.py: 1019] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.08316153 -1.1070095 -0.11917104] yaw=-37.7deg [env.py: 1019] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=327.3ms, total=327.3ms [env.py: 1075] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.139, -1.427, -0.119) [env.py: 1079] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.0 deg [env.py: 1082] +05/13 19:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:52:43 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/13 19:52:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/13 19:52:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:44 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.757s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:52:44 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:46 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: 256] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130899m [env.py: 870] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13927595 -0.99752065 -0.13089874] yaw=-34.1deg [env.py: 1019] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0952121 -1.10137264 -0.13089874] yaw=-44.5deg [env.py: 1019] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26661646 -1.18816846 -0.13089874] yaw=-38.1deg [env.py: 1019] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:52:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.6ms, total=217.6ms [env.py: 1075] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.139, -0.998, -0.131) [env.py: 1079] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/13 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:52:46 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/13 19:52:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 19:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:52:49 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.583s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:52:49 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:52:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:52:50 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:52:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:52:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:52:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:52:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:52:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:52:51 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: 256] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164142m [env.py: 870] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:52:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30596742 -1.05473457 -0.16414222] yaw=-25.9deg [env.py: 1019] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59634408 -0.90616256 -0.16414222] yaw=-92.4deg [env.py: 1019] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06376695 -1.16491295 -0.16414222] yaw=-24.2deg [env.py: 1019] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:52:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=333.1ms, total=333.2ms [env.py: 1075] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -1.055, -0.164) [env.py: 1079] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.9 deg [env.py: 1082] +05/13 19:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:52:51 INFO: [Worker 0] Feasibility-checked 234 grasps in 8.589s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:51 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.667[m] 83.061[deg] [grasp_sample.py: 539] +05/13 19:52:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:52:51 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/13 19:52:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/13 19:52:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 229 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:52:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:55 INFO: [Worker 0] Feasibility-checked 229 grasps in 2.916s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.714[m] 78.835[deg] [grasp_sample.py: 539] +05/13 19:52:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:52:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:52:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:52:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:52:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:52:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:52:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.210s, found 81 non-colliding grasps [grasp_sample.py: 465] +05/13 19:52:58 INFO: [Worker 0] Feasibility-checked 81 grasps in 0.614s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:52:58 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 2.784[deg] [grasp_sample.py: 539] +05/13 19:52:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:52:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:52:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:53:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:53:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:53:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:53:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_004 [pipeline.py: 1174] +05/13 19:53:16 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 20042) [pipeline.py: 1213] +05/13 19:53:16 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=0.90s: + episode_total: mean=56.06s, total=168.17s, count=3, min=273.2ms, max=162846.4ms + sensor_polling: mean=448.3ms, total=122.40s, count=273, min=384.0ms, max=868.4ms + physics_step: mean=26.5ms, total=7.24s, count=273, min=21.5ms, max=63.9ms + task_specific_sample: mean=384.9ms, total=1.15s, count=3, min=265.6ms, max=473.7ms + task_sampling: mean=447.7ms, total=895.3ms, count=2, min=418.0ms, max=477.3ms + task_sampling_failed: mean=273.2ms, total=273.2ms, count=1, min=273.2ms, max=273.2ms + scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.1ms, max=3.0ms + mj_forward_sync: mean=490.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:53:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:53:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:53:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:53:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:53:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:53:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:53:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194686m [env.py: 870] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:53:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31903978 -1.10584519 -0.19468555] yaw=-21.7deg [env.py: 1019] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52326375 -0.83638867 -0.19468555] yaw=-37.8deg [env.py: 1019] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86370887 -0.71050784 -0.19468555] yaw=-63.4deg [env.py: 1019] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:53:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=410.7ms, total=410.7ms [env.py: 1075] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.106, -0.195) [env.py: 1079] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.7 deg [env.py: 1082] +05/13 19:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:53:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:53:20 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/13 19:53:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/13 19:53:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:53:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:53:20 INFO: [Worker 0] Object is not in grasp! 0.00198 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:53:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:53:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 19:53:20 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:53:20 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=False episode_total=0.65s: + episode_total: mean=143.83s, total=143.83s, count=1, min=143832.0ms, max=143832.0ms + sensor_polling: mean=428.4ms, total=125.52s, count=293, min=364.0ms, max=848.5ms + physics_step: mean=25.9ms, total=7.59s, count=293, min=21.1ms, max=84.5ms + task_sampling: mean=647.4ms, total=647.4ms, count=1, min=647.4ms, max=647.4ms + task_specific_sample: mean=642.2ms, total=642.2ms, count=1, min=642.2ms, max=642.2ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=731.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=23.5us, 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] +05/13 19:53:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:53:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:53:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:53:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:53:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:53:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:53:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117174m [env.py: 870] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:53:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09154041 -1.38402745 -0.11717419] yaw=-42.7deg [env.py: 1019] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:53:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.2ms, total=209.2ms [env.py: 1075] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.092, -1.384, -0.117) [env.py: 1079] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/13 19:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:53:23 INFO: [Worker 0] Feasibility-checked 236 grasps in 3.062s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:53:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.653[m] 90.026[deg] [grasp_sample.py: 539] +05/13 19:53:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:53:23 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/13 19:53:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/13 19:53:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:53:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:53:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:53:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:53:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:53:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:53:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:53:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.955s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:53:26 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:53:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:53:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:53:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:53:29 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: 256] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130553m [env.py: 870] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61934947 -0.90972277 -0.13055334] yaw=-82.5deg [env.py: 1019] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.2ms, total=241.2ms [env.py: 1075] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.910, -0.131) [env.py: 1079] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.5 deg [env.py: 1082] +05/13 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:53:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:53:30 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/13 19:53:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/13 19:53:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:53:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:53:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:53:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.312s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:53:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.679[m] 93.427[deg] [grasp_sample.py: 539] +05/13 19:53:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:53:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:53:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:53:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:53:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:53:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.213s, found 87 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:04 INFO: [Worker 0] Feasibility-checked 87 grasps in 2.972s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:04 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.050[m] 14.114[deg] [grasp_sample.py: 539] +05/13 19:54:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:54:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:54:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.196s, found 75 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:10 INFO: [Worker 0] Feasibility-checked 75 grasps in 0.679s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:10 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.032[m] 6.135[deg] [grasp_sample.py: 539] +05/13 19:54:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:54:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:54:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:25 INFO: [Worker 0] Object is not in grasp! 0.00093 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.192s, found 130 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:28 INFO: [Worker 0] Feasibility-checked 130 grasps in 2.708s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:28 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.043[m] 1.625[deg] [grasp_sample.py: 539] +05/13 19:54:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:54:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:54:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:28 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.218s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.618s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:29 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.050[m] 5.979[deg] [grasp_sample.py: 539] +05/13 19:54:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:54:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:54:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:42 INFO: [Worker 0] Object is not in grasp! 0.00163 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.184s, found 79 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:43 INFO: [Worker 0] Feasibility-checked 79 grasps in 0.641s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:43 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.038[m] 5.324[deg] [grasp_sample.py: 539] +05/13 19:54:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:54:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:54:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:54:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 138 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:50 INFO: [Worker 0] Object is not in grasp! 0.00140 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.221s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.675s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:51 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.032[m] 1.708[deg] [grasp_sample.py: 539] +05/13 19:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:54:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:54:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:54:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:54:56 INFO: [Worker 0] Object is not in grasp! 0.00167 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:54:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:54:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:54:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:54:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 113 non-colliding grasps [grasp_sample.py: 465] +05/13 19:54:59 INFO: [Worker 0] Feasibility-checked 138 grasps in 12.236s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:54:59 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.037[m] 3.725[deg] [grasp_sample.py: 539] +05/13 19:55:00 INFO: [Worker 0] Feasibility-checked 113 grasps in 3.443s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:00 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.033[m] 2.000[deg] [grasp_sample.py: 539] +05/13 19:55:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:00 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:55:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:55:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:55:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:55:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:55:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:55:02 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: 256] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135374m [env.py: 870] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:55:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24581992 -0.9224986 -0.13537431] yaw=-36.8deg [env.py: 1019] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62114453 -0.75537111 -0.13537431] yaw=-73.2deg [env.py: 1019] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55841879 -0.79965123 -0.13537431] yaw=-49.7deg [env.py: 1019] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:55:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=276.2ms, total=276.3ms [env.py: 1075] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -0.922, -0.135) [env.py: 1079] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/13 19:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:55:02 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/13 19:55:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s [base_object_manipulation_planner_policy.py: 377] +05/13 19:55:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:03 INFO: [Worker 0] Object is not in grasp! 0.00179 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:55:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:55:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 125 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:55:04 INFO: [Worker 0] Feasibility-checked 125 grasps in 0.589s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.054[m] 0.435[deg] [grasp_sample.py: 539] +05/13 19:55:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:05 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.733s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:55:05 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:55:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:55:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:55:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:55:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:55:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:55:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165159m [env.py: 870] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:55:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16914598 -1.30967014 -0.16515879] yaw=-48.2deg [env.py: 1019] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:55:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=314.2ms, total=314.2ms [env.py: 1075] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.310, -0.165) [env.py: 1079] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/13 19:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:55:08 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/13 19:55:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 19:55:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:08 INFO: [Worker 0] Object is not in grasp! 0.00097 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:55:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:55:08 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:55:09 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=4.09s: + episode_total: mean=52.40s, total=366.82s, count=7, min=3271.4ms, max=137773.2ms + sensor_polling: mean=413.2ms, total=235.91s, count=571, min=351.3ms, max=770.9ms + physics_step: mean=25.5ms, total=14.54s, count=571, min=16.5ms, max=79.7ms + task_sampling: mean=584.6ms, total=4.09s, count=7, min=487.7ms, max=677.5ms + task_specific_sample: mean=580.2ms, total=4.06s, count=7, min=484.1ms, max=674.0ms + scene_randomize: mean=2.0ms, total=14.0ms, count=7, min=1.1ms, max=2.8ms + mj_forward_sync: mean=507.2us, total=3.6ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=19.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:55:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.620s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.678[m] 92.246[deg] [grasp_sample.py: 539] +05/13 19:55:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:55:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:55:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:55:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:55:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:55:12 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: 256] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181031m [env.py: 870] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:55:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47907812 -0.87355136 -0.18103097] yaw=-52.2deg [env.py: 1019] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07811462 -1.3904753 -0.18103097] yaw=4.5deg [env.py: 1019] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00459988 -1.3620046 -0.18103097] yaw=-25.7deg [env.py: 1019] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:55:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1075] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.874, -0.181) [env.py: 1079] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/13 19:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:55:12 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/13 19:55:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/13 19:55:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:55:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.927s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:16 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.704[m] 88.851[deg] [grasp_sample.py: 539] +05/13 19:55:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:55:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:55:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:22 INFO: [Worker 0] Object is not in grasp! 0.00179 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:55:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:55:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.193s, found 95 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:55:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:25 INFO: [Worker 0] Feasibility-checked 95 grasps in 2.812s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:25 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.055[m] 21.128[deg] [grasp_sample.py: 539] +05/13 19:55:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.193s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:25 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.680s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:25 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.036[m] 6.917[deg] [grasp_sample.py: 539] +05/13 19:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:55:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:55:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:55:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:55:44 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:55:44 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=False episode_total=0.76s: + episode_total: mean=144.76s, total=144.76s, count=1, min=144759.0ms, max=144759.0ms + sensor_polling: mean=445.6ms, total=127.45s, count=286, min=377.5ms, max=794.2ms + physics_step: mean=25.6ms, total=7.31s, count=286, min=21.1ms, max=68.8ms + task_sampling: mean=757.2ms, total=757.2ms, count=1, min=757.2ms, max=757.2ms + task_specific_sample: mean=752.1ms, total=752.1ms, count=1, min=752.1ms, max=752.1ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=585.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:55:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:55:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:55:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138195m [env.py: 870] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53739818 -0.88820776 -0.13819489] yaw=-73.9deg [env.py: 1019] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.6608661 -0.83547555 -0.13819489] yaw=-78.8deg [env.py: 1019] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:55:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms [env.py: 1075] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -0.888, -0.138) [env.py: 1079] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/13 19:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:55:46 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/13 19:55:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/13 19:55:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.050s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:50 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.729[m] 91.602[deg] [grasp_sample.py: 539] +05/13 19:55:50 INFO: [Worker 0] Object is not in grasp! 0.00161 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:55:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:55:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.190s, found 125 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:51 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:55:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:55:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:55:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:55:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:55:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:55:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110735m [env.py: 870] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:55:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44046438 -0.93041507 -0.11073522] yaw=-63.0deg [env.py: 1019] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23078251 -1.35879932 -0.11073522] yaw=-34.7deg [env.py: 1019] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42043638 -1.06924495 -0.11073522] yaw=-30.2deg [env.py: 1019] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:55:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=318.1ms, total=318.1ms [env.py: 1075] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.930, -0.111) [env.py: 1079] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/13 19:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:55:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:55:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:55:54 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/13 19:55:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/13 19:55:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:55:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:55:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:55:55 INFO: [Worker 0] Feasibility-checked 125 grasps in 4.608s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:55 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.047[m] 2.296[deg] [grasp_sample.py: 539] +05/13 19:55:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.700s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:55:58 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.674[m] 93.011[deg] [grasp_sample.py: 539] +05/13 19:55:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:55:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:55:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:55:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:56:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:56:17 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:56:17 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=1.15s: + episode_total: mean=85.99s, total=171.99s, count=2, min=3765.9ms, max=168219.2ms + sensor_polling: mean=441.3ms, total=132.40s, count=300, min=378.2ms, max=918.1ms + physics_step: mean=25.6ms, total=7.67s, count=300, min=16.7ms, max=35.2ms + task_sampling: mean=576.2ms, total=1.15s, count=2, min=562.3ms, max=590.2ms + task_specific_sample: mean=570.3ms, total=1.14s, count=2, min=556.3ms, max=584.3ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.6ms, max=1.9ms + mj_forward_sync: mean=432.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=23.9us, 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] +05/13 19:56:18 INFO: [Worker 0] Object is not in grasp! 0.00035 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:56:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:56:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:56:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:56:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 71 non-colliding grasps [grasp_sample.py: 465] +05/13 19:56:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:56:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:56:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:56:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:56:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:56:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:56:19 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: 256] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156375m [env.py: 870] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:56:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60678193 -0.97554342 -0.15637483] yaw=-93.9deg [env.py: 1019] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.85934607 -0.80439738 -0.15637483] yaw=-57.5deg [env.py: 1019] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:56:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29656938 -1.11560633 -0.15637483] yaw=-35.6deg [env.py: 1019] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:56:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=241.9ms, total=241.9ms [env.py: 1075] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.976, -0.156) [env.py: 1079] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.9 deg [env.py: 1082] +05/13 19:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:56:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:56:20 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/13 19:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/13 19:56:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:56:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:56:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 19:56:21 INFO: [Worker 0] Feasibility-checked 71 grasps in 2.675s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:56:21 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.034[m] 3.943[deg] [grasp_sample.py: 539] +05/13 19:56:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:56:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:56:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:22 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.618s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:56:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.663[m] 104.598[deg] [grasp_sample.py: 539] +05/13 19:56:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:56:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:56:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:56:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:56:35 INFO: [Worker 0] Object is not in grasp! 0.00192 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:56:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:56:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:56:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:56:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.218s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 19:56:36 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.712s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:56:36 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 5.261[deg] [grasp_sample.py: 539] +05/13 19:56:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:56:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:56:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:39 INFO: [Worker 0] Object is not in grasp! 0.00038 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:56:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:56:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:56:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:56:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.203s, found 62 non-colliding grasps [grasp_sample.py: 465] +05/13 19:56:40 INFO: [Worker 0] Feasibility-checked 62 grasps in 0.573s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:56:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.040[m] 1.072[deg] [grasp_sample.py: 539] +05/13 19:56:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:56:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:56:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:56:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:56:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:56:57 INFO: [Worker 0] Object is not in grasp! 0.00104 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:56:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:56:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:56:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:56:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 128 non-colliding grasps [grasp_sample.py: 465] +05/13 19:56:58 INFO: [Worker 0] Object is not in grasp! 0.00010 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:56:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:56:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:56:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:56:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.202s, found 53 non-colliding grasps [grasp_sample.py: 465] +05/13 19:56:58 INFO: [Worker 0] Feasibility-checked 128 grasps in 0.581s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:56:58 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.058[m] 0.453[deg] [grasp_sample.py: 539] +05/13 19:56:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:56:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:56:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:00 INFO: [Worker 0] Feasibility-checked 53 grasps in 2.579s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:00 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.038[m] 1.915[deg] [grasp_sample.py: 539] +05/13 19:57:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:57:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:57:20 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:57:20 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=3.27s: + episode_total: mean=47.09s, total=282.54s, count=6, min=375.5ms, max=138365.5ms + sensor_polling: mean=406.8ms, total=211.94s, count=521, min=348.3ms, max=795.9ms + physics_step: mean=26.0ms, total=13.57s, count=521, min=16.5ms, max=89.9ms + task_specific_sample: mean=602.1ms, total=3.61s, count=6, min=365.1ms, max=888.1ms + task_sampling: mean=653.3ms, total=3.27s, count=5, min=551.7ms, max=891.1ms + task_sampling_failed: mean=375.5ms, total=375.5ms, count=1, min=375.5ms, max=375.5ms + scene_randomize: mean=1.7ms, total=10.0ms, count=6, min=1.2ms, max=2.3ms + mj_forward_sync: mean=456.8us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=17.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:57:21 INFO: [Worker 0] Object is not in grasp! 0.00184 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:57:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:57:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.188s, found 79 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:57:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:57:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:57:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:57:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:57:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:57:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197723m [env.py: 870] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:57:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:57:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:21 INFO: [Worker 0] Feasibility-checked 79 grasps in 0.640s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:21 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.030[m] 0.775[deg] [grasp_sample.py: 539] +05/13 19:57:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07979295 -1.40117497 -0.19772333] yaw=5.9deg [env.py: 1019] +05/13 19:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:57:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=313.8ms, total=313.8ms [env.py: 1075] +05/13 19:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.080, -1.401, -0.198) [env.py: 1079] +05/13 19:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 5.9 deg [env.py: 1082] +05/13 19:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/13 19:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:57:22 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/13 19:57:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/13 19:57:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 232 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:25 INFO: [Worker 0] Object is not in grasp! 0.00166 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:57:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:57:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.188s, found 94 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:26 INFO: [Worker 0] Feasibility-checked 94 grasps in 0.734s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:26 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.029[m] 0.560[deg] [grasp_sample.py: 539] +05/13 19:57:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:27 INFO: [Worker 0] Feasibility-checked 232 grasps in 4.571s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:27 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.672[m] 90.677[deg] [grasp_sample.py: 539] +05/13 19:57:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:28 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:57:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:57:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:57:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:57:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:57:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:57:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111143m [env.py: 870] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:57:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09740326 -1.08281371 -0.11114311] yaw=-30.8deg [env.py: 1019] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:57:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=252.0ms, total=252.0ms [env.py: 1075] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.083, -0.111) [env.py: 1079] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/13 19:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:57:31 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/13 19:57:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 19:57:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:34 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.814s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:57:34 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:57:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:57:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:57:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:57:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:57:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:57:37 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: 256] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123358m [env.py: 870] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:57:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:57:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38396836 -0.98805379 -0.12335804] yaw=-28.5deg [env.py: 1019] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48769576 -0.97839258 -0.12335804] yaw=-48.2deg [env.py: 1019] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30213901 -0.85199345 -0.12335804] yaw=-65.1deg [env.py: 1019] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=369.1ms, total=369.2ms [env.py: 1075] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -0.988, -0.123) [env.py: 1079] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.5 deg [env.py: 1082] +05/13 19:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:57:37 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/13 19:57:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 19:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:38 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:57:38 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=False episode_total=0.49s: + episode_total: mean=146.49s, total=146.49s, count=1, min=146491.4ms, max=146491.4ms + sensor_polling: mean=423.2ms, total=126.95s, count=300, min=354.6ms, max=866.5ms + physics_step: mean=27.2ms, total=8.15s, count=300, min=17.5ms, max=54.2ms + task_sampling: mean=487.4ms, total=487.4ms, count=1, min=487.4ms, max=487.4ms + task_specific_sample: mean=482.7ms, total=482.7ms, count=1, min=482.7ms, max=482.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=441.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:57:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:57:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.195s, found 71 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:40 INFO: [Worker 0] Feasibility-checked 71 grasps in 0.747s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:40 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.040[m] 1.093[deg] [grasp_sample.py: 539] +05/13 19:57:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:57:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:57:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:57:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:57:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:57:40 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: 256] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101561m [env.py: 870] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:57:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77539288 -0.85444466 -0.1015613 ] yaw=-71.5deg [env.py: 1019] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:57:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:57:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.3ms, total=262.3ms [env.py: 1075] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.775, -0.854, -0.102) [env.py: 1079] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg [env.py: 1082] +05/13 19:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:57:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:57:41 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/13 19:57:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/13 19:57:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:42 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.514s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:42 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.732[m] 90.662[deg] [grasp_sample.py: 539] +05/13 19:57:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:57:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:57:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:57:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:57:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:57:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.180s, found 59 non-colliding grasps [grasp_sample.py: 465] +05/13 19:57:45 INFO: [Worker 0] Feasibility-checked 59 grasps in 0.748s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:45 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.049[m] 9.294[deg] [grasp_sample.py: 539] +05/13 19:57:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.828s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:57:48 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.675[m] 96.842[deg] [grasp_sample.py: 539] +05/13 19:57:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:57:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:57:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:57:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:57:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:58:02 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:58:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:58:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 129 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:03 INFO: [Worker 0] Feasibility-checked 129 grasps in 0.540s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:03 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.052[m] 2.294[deg] [grasp_sample.py: 539] +05/13 19:58:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:58:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:58:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:08 INFO: [Worker 0] Object is not in grasp! 0.00182 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:58:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.180s, found 100 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:09 INFO: [Worker 0] Feasibility-checked 100 grasps in 0.733s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:09 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.047[m] 0.202[deg] [grasp_sample.py: 539] +05/13 19:58:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:58:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:58:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:58:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:58:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:58:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:58:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:58:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.963s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:24 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.508[m] 65.736[deg] [grasp_sample.py: 539] +05/13 19:58:25 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:58:26 INFO: [Worker 0] Object is not in grasp! 0.00131 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:58:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:58:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:26 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.042[m] 0.944[deg] [grasp_sample.py: 539] +05/13 19:58:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:58:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:58:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137295m [env.py: 870] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6877372 -0.83992749 -0.13729541] yaw=-55.7deg [env.py: 1019] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=269.1ms, total=269.1ms [env.py: 1075] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.688, -0.840, -0.137) [env.py: 1079] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/13 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:28 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.715[m] 91.226[deg] [grasp_sample.py: 539] +05/13 19:58:31 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:58:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:31 INFO: [Worker 0] Object is not in grasp! 0.00118 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:58:31 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 19:58:31 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:58:31 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=1.20s: + episode_total: mean=81.79s, total=163.59s, count=2, min=5201.7ms, max=158383.4ms + sensor_polling: mean=444.4ms, total=132.88s, count=299, min=382.9ms, max=778.2ms + physics_step: mean=26.3ms, total=7.87s, count=299, min=21.4ms, max=82.6ms + task_sampling: mean=602.3ms, total=1.20s, count=2, min=590.1ms, max=614.4ms + task_specific_sample: mean=597.8ms, total=1.20s, count=2, min=587.2ms, max=608.5ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.0ms + mj_forward_sync: mean=428.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.9us, 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] +05/13 19:58:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:33 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: 256] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176223m [env.py: 870] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23869211 -1.14307248 -0.17622279] yaw=-47.4deg [env.py: 1019] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16604992 -1.22235524 -0.17622279] yaw=-12.6deg [env.py: 1019] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:58:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128640m [env.py: 870] +05/13 19:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36181164 -0.99395436 -0.17622279] yaw=-31.7deg [env.py: 1019] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=295.3ms, total=295.4ms [env.py: 1075] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.239, -1.143, -0.176) [env.py: 1079] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.83369299 -0.82846989 -0.12863993] yaw=-68.2deg [env.py: 1019] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35607214 -0.96390742 -0.12863993] yaw=-73.2deg [env.py: 1019] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=524.4ms, total=524.5ms [env.py: 1075] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.834, -0.828, -0.129) [env.py: 1079] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/13 19:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:34 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:34 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 240 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.654s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:37 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.667[m] 84.918[deg] [grasp_sample.py: 539] +05/13 19:58:39 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:58:39 INFO: [Worker 0] Feasibility-checked 240 grasps in 4.378s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.674[m] 85.596[deg] [grasp_sample.py: 539] +05/13 19:58:40 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119821m [env.py: 870] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61156826 -0.75620915 -0.11982133] yaw=-83.1deg [env.py: 1019] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.9ms, total=321.0ms [env.py: 1075] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.756, -0.120) [env.py: 1079] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.1 deg [env.py: 1082] +05/13 19:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:41 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:58:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:42 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: 256] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199941m [env.py: 870] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21111446 -1.00506207 -0.19994136] yaw=-62.4deg [env.py: 1019] +05/13 19:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=243.0ms [env.py: 1075] +05/13 19:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.005, -0.200) [env.py: 1079] +05/13 19:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/13 19:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/13 19:58:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:43 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.659s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:58:46 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:58:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:47 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: 256] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150925m [env.py: 870] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80269389 -0.80791431 -0.15092534] yaw=-102.4deg [env.py: 1019] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=518.7ms, total=518.7ms [env.py: 1075] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.803, -0.808, -0.151) [env.py: 1079] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.4 deg [env.py: 1082] +05/13 19:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/13 19:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:48 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.711s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:48 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/13 19:58:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:49 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:58:49 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=False episode_total=0.59s: + episode_total: mean=150.04s, total=150.04s, count=1, min=150040.1ms, max=150040.1ms + sensor_polling: mean=436.0ms, total=130.80s, count=300, min=368.4ms, max=943.8ms + physics_step: mean=26.8ms, total=8.05s, count=300, min=21.4ms, max=116.2ms + task_sampling: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms + task_specific_sample: mean=585.4ms, total=585.4ms, count=1, min=585.4ms, max=585.4ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=575.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=16.8us, 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] +05/13 19:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197674m [env.py: 870] +05/13 19:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=284.4ms, total=284.5ms [env.py: 1105] +05/13 19:58:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:58:51 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:58:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:51 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: 256] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113043m [env.py: 870] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5669114 -0.72851202 -0.11304287] yaw=-83.9deg [env.py: 1019] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21255581 -1.40316908 -0.11304287] yaw=-14.8deg [env.py: 1019] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90089627 -0.92434021 -0.11304287] yaw=-110.6deg [env.py: 1019] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=287.1ms, total=287.1ms [env.py: 1075] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.567, -0.729, -0.113) [env.py: 1079] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.9 deg [env.py: 1082] +05/13 19:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:52 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105158m [env.py: 870] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28438374 -0.86737493 -0.10515818] yaw=-35.0deg [env.py: 1019] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0346585 -1.32683934 -0.10515818] yaw=-0.7deg [env.py: 1019] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21754165 -1.02433617 -0.10515818] yaw=-50.4deg [env.py: 1019] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=292.5ms, total=292.5ms [env.py: 1075] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -0.867, -0.105) [env.py: 1079] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg [env.py: 1082] +05/13 19:58:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:53 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:54 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.669s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:58:54 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:58:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 6.585s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:58:55 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.724[m] 93.363[deg] [grasp_sample.py: 539] +05/13 19:58:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:58:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:58:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:58:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190111m [env.py: 870] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44580929 -0.77331839 -0.19011133] yaw=-52.3deg [env.py: 1019] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19760826 -1.45292001 -0.19011133] yaw=-26.2deg [env.py: 1019] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53647925 -0.79150488 -0.19011133] yaw=-62.2deg [env.py: 1019] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.0ms, total=106.1ms [env.py: 1075] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.773, -0.190) [env.py: 1079] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/13 19:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:58:56 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/13 19:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/13 19:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:58:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:58:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.852s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:58:56 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:58:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:58:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:58:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:58:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:58:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:58:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:58:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:58:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:58:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182583m [env.py: 870] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:58:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.582s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:58:59 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20263523 -1.2217757 -0.18258279] yaw=-44.6deg [env.py: 1019] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:58:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=259.6ms, total=259.6ms [env.py: 1075] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -1.222, -0.183) [env.py: 1079] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/13 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:00 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137083m [env.py: 870] +05/13 19:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.75397832 -0.68664826 -0.137083 ] yaw=-90.4deg [env.py: 1019] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55926655 -0.70545102 -0.137083 ] yaw=-41.9deg [env.py: 1019] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41273312 -0.78709594 -0.137083 ] yaw=-70.3deg [env.py: 1019] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.3ms, total=153.3ms [env.py: 1075] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.754, -0.687, -0.137) [env.py: 1079] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.4 deg [env.py: 1082] +05/13 19:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/13 19:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:01 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:02 INFO: [Worker 0] Object is not in grasp! 0.00045 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:59:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:59:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.214s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:03 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.666s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:03 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.037[m] 2.980[deg] [grasp_sample.py: 539] +05/13 19:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:04 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.736s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:59:04 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:59:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:05 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: 256] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103701m [env.py: 870] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55318978 -0.74893369 -0.10370148] yaw=-89.2deg [env.py: 1019] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14166822 -1.42702932 -0.10370148] yaw=-49.1deg [env.py: 1019] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16998244 -1.28029879 -0.10370148] yaw=-33.2deg [env.py: 1019] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=159.6ms, total=159.7ms [env.py: 1075] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.749, -0.104) [env.py: 1079] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.2 deg [env.py: 1082] +05/13 19:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:06 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:09 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.696s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:59:09 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:59:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184267m [env.py: 870] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1295939 -1.40797529 -0.18426666] yaw=-9.7deg [env.py: 1019] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48208502 -1.0483596 -0.18426666] yaw=-67.3deg [env.py: 1019] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.90903731 -0.79822869 -0.18426666] yaw=-90.1deg [env.py: 1019] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.2ms [env.py: 1075] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.130, -1.408, -0.184) [env.py: 1079] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.7 deg [env.py: 1082] +05/13 19:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:10 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 223 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.885s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:12 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.654[m] 95.401[deg] [grasp_sample.py: 539] +05/13 19:59:13 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:59:13 INFO: [Worker 0] Feasibility-checked 223 grasps in 2.776s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:13 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.641[m] 83.591[deg] [grasp_sample.py: 539] +05/13 19:59:15 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:15 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: 256] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115882m [env.py: 870] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35548351 -1.15172216 -0.11588165] yaw=-55.3deg [env.py: 1019] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47076728 -0.80068736 -0.11588165] yaw=-78.1deg [env.py: 1019] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23904802 -1.06947072 -0.11588165] yaw=-45.1deg [env.py: 1019] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.0ms, total=236.1ms [env.py: 1075] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -1.152, -0.116) [env.py: 1079] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:59:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:16 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:16 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: 256] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107619m [env.py: 870] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11570118 -1.3812611 -0.10761882] yaw=-0.8deg [env.py: 1019] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.2ms, retries=330.5ms, total=330.7ms [env.py: 1075] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -1.381, -0.108) [env.py: 1079] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -0.8 deg [env.py: 1082] +05/13 19:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:17 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 231 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:19 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.063s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:19 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.634[m] 83.414[deg] [grasp_sample.py: 539] +05/13 19:59:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:20 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.941s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:20 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.702[m] 92.087[deg] [grasp_sample.py: 539] +05/13 19:59:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:21 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 19:59:22 INFO: [Worker 0] Object is not in grasp! 0.00121 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:59:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:59:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 92 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:23 INFO: [Worker 0] Feasibility-checked 92 grasps in 0.523s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:23 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.044[m] 2.611[deg] [grasp_sample.py: 539] +05/13 19:59:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:23 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: 256] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176833m [env.py: 870] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07146968 -1.32147047 -0.17683321] yaw=-26.8deg [env.py: 1019] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31220631 -1.21603256 -0.17683321] yaw=-28.1deg [env.py: 1019] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=360.9ms, total=361.0ms [env.py: 1075] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.071, -1.321, -0.177) [env.py: 1079] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.8 deg [env.py: 1082] +05/13 19:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:24 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 231 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:27 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.954s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:59:27 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:59:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182889m [env.py: 870] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07003387 -1.40097656 -0.18288898] yaw=-39.7deg [env.py: 1019] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18005951 -1.36482334 -0.18288898] yaw=-18.4deg [env.py: 1019] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=326.3ms, total=326.3ms [env.py: 1075] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.070, -1.401, -0.183) [env.py: 1079] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/13 19:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:30 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:30 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.797s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:30 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.583[m] 68.134[deg] [grasp_sample.py: 539] +05/13 19:59:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:33 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.920s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:59:33 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:36 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: 256] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148529m [env.py: 870] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=289.5ms, total=289.5ms [env.py: 1105] +05/13 19:59:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 19:59:36 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 19:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115155m [env.py: 870] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6305829 -0.70185086 -0.11515525] yaw=-50.3deg [env.py: 1019] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.2ms, total=263.2ms [env.py: 1075] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.631, -0.702, -0.115) [env.py: 1079] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/13 19:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:39 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:42 INFO: [Worker 0] Object is not in grasp! 0.00138 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 19:59:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:59:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.213s, found 79 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.960s, found feasible grasp: False [grasp_sample.py: 500] +05/13 19:59:42 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 19:59:42 INFO: [Worker 0] Feasibility-checked 79 grasps in 0.666s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:42 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.034[m] 2.166[deg] [grasp_sample.py: 539] +05/13 19:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 19:59:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 19:59:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 19:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 19:59:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 19:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 19:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 19:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 19:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197500m [env.py: 870] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 19:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41807268 -1.13195028 -0.19749985] yaw=-45.6deg [env.py: 1019] +05/13 19:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37392265 -1.13136391 -0.19749985] yaw=-60.4deg [env.py: 1019] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.84979818 -0.6898491 -0.19749985] yaw=-64.3deg [env.py: 1019] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 19:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.132, -0.197) [env.py: 1079] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/13 19:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/13 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 19:59:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 19:59:46 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/13 19:59:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 19:59:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 19:59:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 19:59:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 19:59:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.667s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.541[m] 90.023[deg] [grasp_sample.py: 539] +05/13 19:59:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:48 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.954s, found feasible grasp: True [grasp_sample.py: 500] +05/13 19:59:48 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.583[m] 68.138[deg] [grasp_sample.py: 539] +05/13 19:59:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 19:59:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 19:59:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 19:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 19:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 19:59:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 19:59:58 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 19:59:58 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=1.77s: + episode_total: mean=50.86s, total=152.59s, count=3, min=3634.9ms, max=141912.3ms + sensor_polling: mean=410.4ms, total=123.13s, count=300, min=355.6ms, max=818.6ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=17.6ms, max=60.2ms + task_sampling: mean=591.4ms, total=1.77s, count=3, min=557.9ms, max=638.0ms + task_specific_sample: mean=587.4ms, total=1.76s, count=3, min=552.7ms, max=633.8ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.3ms, max=1.9ms + mj_forward_sync: mean=454.0us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=13.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 19:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152361m [env.py: 870] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07119164 -1.33151852 -0.15236073] yaw=-12.6deg [env.py: 1019] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.7ms, total=256.7ms [env.py: 1075] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.071, -1.332, -0.152) [env.py: 1079] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.6 deg [env.py: 1082] +05/13 20:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:01 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:00:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:04 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.628s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:00:04 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:00:05 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.961s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:05 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.583[m] 68.138[deg] [grasp_sample.py: 539] +05/13 20:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:05 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: 256] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150410m [env.py: 870] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67844069 -0.97120095 -0.15040998] yaw=-56.0deg [env.py: 1019] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37061896 -1.1736372 -0.15040998] yaw=-56.8deg [env.py: 1019] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54790366 -0.93840845 -0.15040998] yaw=-34.5deg [env.py: 1019] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.2ms, total=255.2ms [env.py: 1075] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.678, -0.971, -0.150) [env.py: 1079] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/13 20:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:06 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.049s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:08 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.572[m] 74.066[deg] [grasp_sample.py: 539] +05/13 20:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:09 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:00:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170595m [env.py: 870] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=356.5ms, total=356.6ms [env.py: 1105] +05/13 20:00:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:00:11 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:00:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113802m [env.py: 870] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27689315 -0.9021238 -0.1138023 ] yaw=-26.4deg [env.py: 1019] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=285.3ms, total=285.4ms [env.py: 1075] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -0.902, -0.114) [env.py: 1079] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.4 deg [env.py: 1082] +05/13 20:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:13 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:16 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.823s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:00:16 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104672m [env.py: 870] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.041189 -1.35446322 -0.10467162] yaw=-40.3deg [env.py: 1019] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15097093 -1.05680917 -0.10467162] yaw=-15.7deg [env.py: 1019] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37204235 -1.10716301 -0.10467162] yaw=-43.2deg [env.py: 1019] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1075] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.041, -1.354, -0.105) [env.py: 1079] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/13 20:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:19 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:00:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:00:21 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:00:21 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=3.39s: + episode_total: mean=30.53s, total=152.67s, count=5, min=3441.5ms, max=93463.1ms + sensor_polling: mean=436.9ms, total=52.87s, count=121, min=357.8ms, max=851.1ms + task_sampling: mean=677.1ms, total=3.39s, count=5, min=516.0ms, max=867.2ms + task_specific_sample: mean=672.1ms, total=3.36s, count=5, min=511.6ms, max=863.2ms + physics_step: mean=22.5ms, total=2.72s, count=121, min=14.4ms, max=29.4ms + scene_randomize: mean=1.7ms, total=8.5ms, count=5, min=1.3ms, max=2.2ms + mj_forward_sync: mean=540.6us, total=2.7ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=18.3us, 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] +05/13 20:00:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.752s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:00:22 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:00:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:22 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: 256] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120847m [env.py: 870] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.86351272 -0.900372 -0.1208465 ] yaw=-78.3deg [env.py: 1019] +05/13 20:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21667078 -1.15542139 -0.1208465 ] yaw=-28.0deg [env.py: 1019] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62263941 -0.70594768 -0.1208465 ] yaw=-56.4deg [env.py: 1019] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.7ms, total=259.7ms [env.py: 1075] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.864, -0.900, -0.121) [env.py: 1079] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.3 deg [env.py: 1082] +05/13 20:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/13 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:23 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:24 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: 256] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184658m [env.py: 870] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.6ms, total=211.6ms [env.py: 1105] +05/13 20:00:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:00:24 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:00:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.185s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:24 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.598[m] 94.424[deg] [grasp_sample.py: 539] +05/13 20:00:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:26 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: 256] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148051m [env.py: 870] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58546528 -0.8251545 -0.14805061] yaw=-64.8deg [env.py: 1019] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.5ms [env.py: 1075] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.825, -0.148) [env.py: 1079] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/13 20:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:26 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:00:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.827s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.732[m] 102.668[deg] [grasp_sample.py: 539] +05/13 20:00:31 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:32 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: 256] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120694m [env.py: 870] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46022557 -1.04218016 -0.12069416] yaw=-50.9deg [env.py: 1019] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59692382 -0.81282676 -0.12069416] yaw=-78.7deg [env.py: 1019] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.9ms, total=339.9ms [env.py: 1075] +05/13 20:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.042, -0.121) [env.py: 1079] +05/13 20:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/13 20:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/13 20:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:33 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.094s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.636[m] 92.154[deg] [grasp_sample.py: 539] +05/13 20:00:36 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:00:36 INFO: [Worker 0] Object is not in grasp! 0.00139 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:00:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.181s, found 85 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:37 INFO: [Worker 0] Feasibility-checked 85 grasps in 0.616s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:37 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.038[m] 0.763[deg] [grasp_sample.py: 539] +05/13 20:00:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:00:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:00:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:00:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:00:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:00:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168417m [env.py: 870] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:00:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48243999 -1.04235663 -0.16841686] yaw=-31.8deg [env.py: 1019] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37592506 -0.92558458 -0.16841686] yaw=-39.9deg [env.py: 1019] +05/13 20:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:00:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=381.4ms, total=381.5ms [env.py: 1075] +05/13 20:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -1.042, -0.168) [env.py: 1079] +05/13 20:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/13 20:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/13 20:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:00:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:00:38 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/13 20:00:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 20:00:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 235 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:39 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.117s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.628[m] 75.182[deg] [grasp_sample.py: 539] +05/13 20:00:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:00:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:00:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:00:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:00:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:00:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.846s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.461[m] 67.837[deg] [grasp_sample.py: 539] +05/13 20:00:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:58 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:00:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 132 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:58 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:00:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:00:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:00:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 20:00:59 INFO: [Worker 0] Feasibility-checked 132 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:59 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.045[m] 1.291[deg] [grasp_sample.py: 539] +05/13 20:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:59 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.622s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:00:59 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.036[m] 5.649[deg] [grasp_sample.py: 539] +05/13 20:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:00:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:00:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:00:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:01:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:01:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:01:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:14 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.461[m] 67.838[deg] [grasp_sample.py: 539] +05/13 20:01:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:01:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:01:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:01:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 123 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:17 INFO: [Worker 0] Feasibility-checked 123 grasps in 0.804s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.066[m] 4.390[deg] [grasp_sample.py: 539] +05/13 20:01:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:01:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:01:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:01:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.222s, found 67 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:21 INFO: [Worker 0] Feasibility-checked 67 grasps in 0.716s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:21 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.038[m] 5.252[deg] [grasp_sample.py: 539] +05/13 20:01:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:01:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:01:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:01:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:01:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.192s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.461[m] 67.838[deg] [grasp_sample.py: 539] +05/13 20:01:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:01:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:01:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:01:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:01:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:01:39 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:01:39 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=3.26s: + episode_total: mean=29.18s, total=175.06s, count=6, min=297.2ms, max=143845.5ms + sensor_polling: mean=438.8ms, total=125.49s, count=286, min=379.9ms, max=840.4ms + physics_step: mean=25.3ms, total=7.25s, count=286, min=17.0ms, max=60.7ms + task_specific_sample: mean=588.4ms, total=3.53s, count=6, min=291.1ms, max=864.9ms + task_sampling: mean=652.9ms, total=3.26s, count=5, min=554.7ms, max=869.0ms + task_sampling_failed: mean=297.2ms, total=297.2ms, count=1, min=297.2ms, max=297.2ms + scene_randomize: mean=1.8ms, total=10.9ms, count=6, min=1.2ms, max=2.2ms + mj_forward_sync: mean=474.7us, total=2.8ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=21.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:01:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:01:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:01:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159306m [env.py: 870] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28163804 -1.03392905 -0.15930626] yaw=-18.1deg [env.py: 1019] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=331.5ms, total=331.5ms [env.py: 1075] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.034, -0.159) [env.py: 1079] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.1 deg [env.py: 1082] +05/13 20:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:01:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:01:42 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/13 20:01:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/13 20:01:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 238 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:43 INFO: [Worker 0] Object is not in grasp! 0.00189 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:01:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.210s, found 75 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:44 INFO: [Worker 0] Feasibility-checked 75 grasps in 0.606s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:44 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.033[m] 6.167[deg] [grasp_sample.py: 539] +05/13 20:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:01:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:01:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:01:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:01:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:01:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:01:45 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.915s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:45 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.764[m] 83.489[deg] [grasp_sample.py: 539] +05/13 20:01:45 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:01:45 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=False episode_total=0.57s: + episode_total: mean=82.75s, total=82.75s, count=1, min=82748.6ms, max=82748.6ms + sensor_polling: mean=435.7ms, total=30.07s, count=69, min=367.6ms, max=686.8ms + physics_step: mean=24.6ms, total=1.69s, count=69, min=14.6ms, max=82.6ms + task_sampling: mean=574.4ms, total=574.4ms, count=1, min=574.4ms, max=574.4ms + task_specific_sample: mean=571.3ms, total=571.3ms, count=1, min=571.3ms, max=571.3ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=438.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:01:46 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:01:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:01:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:01:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:01:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:01:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:01:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:01:47 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: 256] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126585m [env.py: 870] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:01:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21166517 -1.1928103 -0.12658467] yaw=-56.9deg [env.py: 1019] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:01:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.7ms, total=237.8ms [env.py: 1075] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.193, -0.127) [env.py: 1079] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/13 20:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:01:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:01:47 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/13 20:01:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/13 20:01:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:01:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:01:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:01:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:01:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:01:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:01:48 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: 256] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175721m [env.py: 870] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:01:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20763573 -1.42526703 -0.17572145] yaw=-32.3deg [env.py: 1019] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03895135 -1.12130506 -0.17572145] yaw=-56.3deg [env.py: 1019] +05/13 20:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36268681 -1.17714424 -0.17572145] yaw=-22.0deg [env.py: 1019] +05/13 20:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.8ms, total=242.9ms [env.py: 1075] +05/13 20:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.425, -0.176) [env.py: 1079] +05/13 20:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg [env.py: 1082] +05/13 20:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/13 20:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:01:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:01:49 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/13 20:01:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/13 20:01:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 232 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:54 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:01:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:01:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:01:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:01:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 100 non-colliding grasps [grasp_sample.py: 465] +05/13 20:01:55 INFO: [Worker 0] Feasibility-checked 100 grasps in 0.920s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:55 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.261[deg] [grasp_sample.py: 539] +05/13 20:01:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:01:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:01:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:01:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.674s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.746[m] 93.696[deg] [grasp_sample.py: 539] +05/13 20:01:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:01:58 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:01:59 INFO: [Worker 0] Feasibility-checked 232 grasps in 10.367s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:01:59 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.526[m] 79.511[deg] [grasp_sample.py: 539] +05/13 20:02:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:02:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:02:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:02:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:02:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:02:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156686m [env.py: 870] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:02:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.80606993 -0.87270056 -0.15668614] yaw=-71.8deg [env.py: 1019] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40745042 -1.11496762 -0.15668614] yaw=-20.3deg [env.py: 1019] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50174563 -1.04743056 -0.15668614] yaw=-68.8deg [env.py: 1019] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:02:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.5ms, total=241.6ms [env.py: 1075] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.806, -0.873, -0.157) [env.py: 1079] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg [env.py: 1082] +05/13 20:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:02:00 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/13 20:02:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 20:02:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:02:01 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:02:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:02:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:02:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:02:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:02:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:02:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140589m [env.py: 870] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:02:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45790725 -1.09062179 -0.14058909] yaw=-76.0deg [env.py: 1019] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04904902 -1.17670288 -0.14058909] yaw=-28.1deg [env.py: 1019] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:02:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=348.4ms, total=348.4ms [env.py: 1075] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -1.091, -0.141) [env.py: 1079] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg [env.py: 1082] +05/13 20:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:02:04 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/13 20:02:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/13 20:02:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:02:04 INFO: [Worker 0] Object is not in grasp! 0.00093 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:02:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:02:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.087s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:02:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.611[m] 82.864[deg] [grasp_sample.py: 539] +05/13 20:02:05 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:02:05 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=5.14s: + episode_total: mean=15.84s, total=174.28s, count=11, min=300.3ms, max=139437.4ms + sensor_polling: mean=438.4ms, total=119.24s, count=272, min=380.8ms, max=952.2ms + physics_step: mean=26.1ms, total=7.11s, count=272, min=17.0ms, max=81.6ms + task_specific_sample: mean=491.0ms, total=5.40s, count=11, min=296.0ms, max=660.7ms + task_sampling: mean=514.0ms, total=5.14s, count=10, min=362.3ms, max=664.5ms + task_sampling_failed: mean=300.2ms, total=300.2ms, count=1, min=300.2ms, max=300.2ms + scene_randomize: mean=1.7ms, total=18.4ms, count=11, min=1.0ms, max=3.8ms + mj_forward_sync: mean=509.1us, total=5.6ms, count=11, min=0.4ms, max=0.7ms + policy_setup: mean=19.6us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:02:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:02:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.308s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:02:05 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.591[m] 90.982[deg] [grasp_sample.py: 539] +05/13 20:02:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:02:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:02:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:02:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:02:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:02:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:02:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:02:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:02:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:02:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164568m [env.py: 870] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:02:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25398749 -0.95670824 -0.16456775] yaw=-37.9deg [env.py: 1019] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:02:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=287.7ms, total=287.8ms [env.py: 1075] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -0.957, -0.165) [env.py: 1079] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/13 20:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:02:07 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/13 20:02:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 20:02:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 238 non-colliding grasps [grasp_sample.py: 465] +05/13 20:02:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:02:10 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.593s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:02:10 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:02:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:02:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:02:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:02:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:02:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:02:11 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: 256] +05/13 20:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199965m [env.py: 870] +05/13 20:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:02:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=318.5ms, total=318.6ms [env.py: 1105] +05/13 20:02:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:02:12 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:02:13 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:02:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:02:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.200s, found 100 non-colliding grasps [grasp_sample.py: 465] +05/13 20:02:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:02:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:02:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:02:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:02:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:02:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151895m [env.py: 870] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:02:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32556281 -1.05892044 -0.15189548] yaw=-31.9deg [env.py: 1019] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73475481 -0.71923593 -0.15189548] yaw=-54.8deg [env.py: 1019] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:02:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=231.3ms, total=231.3ms [env.py: 1075] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -1.059, -0.152) [env.py: 1079] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.9 deg [env.py: 1082] +05/13 20:02:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:02:14 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/13 20:02:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 20:02:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:14 INFO: [Worker 0] Feasibility-checked 100 grasps in 0.789s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:02:14 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.060[m] 0.818[deg] [grasp_sample.py: 539] +05/13 20:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:02:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:02:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:02:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:19 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.719s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:02:19 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.678[m] 91.864[deg] [grasp_sample.py: 539] +05/13 20:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:02:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:02:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:02:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:02:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:02:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.196s, found 119 non-colliding grasps [grasp_sample.py: 465] +05/13 20:02:36 INFO: [Worker 0] Feasibility-checked 119 grasps in 2.716s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:02:36 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 1.482[deg] [grasp_sample.py: 539] +05/13 20:02:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:02:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:02:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:02:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:02:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:02:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:02:56 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:02:56 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=3.97s: + episode_total: mean=18.11s, total=162.98s, count=9, min=220.9ms, max=139160.0ms + sensor_polling: mean=408.1ms, total=116.32s, count=285, min=345.3ms, max=850.0ms + physics_step: mean=25.8ms, total=7.36s, count=285, min=16.6ms, max=66.8ms + task_specific_sample: mean=502.6ms, total=4.52s, count=9, min=217.3ms, max=658.9ms + task_sampling: mean=566.5ms, total=3.97s, count=7, min=451.5ms, max=662.5ms + task_sampling_failed: mean=301.7ms, total=603.4ms, count=2, min=220.9ms, max=382.5ms + scene_randomize: mean=1.6ms, total=14.3ms, count=9, min=1.1ms, max=2.3ms + mj_forward_sync: mean=456.7us, total=4.1ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=16.0us, 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] +05/13 20:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:02:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:02:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:02:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:02:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:02:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:02:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129095m [env.py: 870] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:02:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26097513 -1.12151516 -0.12909464] yaw=-50.6deg [env.py: 1019] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:02:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=356.9ms, total=357.0ms [env.py: 1075] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -1.122, -0.129) [env.py: 1079] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/13 20:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:02:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:02:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:02:59 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/13 20:02:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 20:02:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:02:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:02:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.847s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.663[m] 89.865[deg] [grasp_sample.py: 539] +05/13 20:03:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:03:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:03:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:03:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:03:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:03:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:03:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:03:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.240s, found 43 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:16 INFO: [Worker 0] Feasibility-checked 43 grasps in 0.706s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:16 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.036[m] 5.713[deg] [grasp_sample.py: 539] +05/13 20:03:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:03:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:03:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:23 INFO: [Worker 0] Object is not in grasp! 0.00126 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:03:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:03:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:03:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.179s, found 91 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:24 INFO: [Worker 0] Feasibility-checked 91 grasps in 0.664s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:24 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.040[m] 3.624[deg] [grasp_sample.py: 539] +05/13 20:03:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:03:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:03:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:39 INFO: [Worker 0] Object is not in grasp! 0.00030 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:03:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:03:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:03:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:03:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.230s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:39 INFO: [Worker 0] Object is not in grasp! 0.00091 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:03:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:03:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:03:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:03:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 127 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:40 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.739s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:40 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.025[m] 1.144[deg] [grasp_sample.py: 539] +05/13 20:03:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:03:40 INFO: [Worker 0] Feasibility-checked 127 grasps in 0.614s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:40 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.052[m] 2.546[deg] [grasp_sample.py: 539] +05/13 20:03:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:03:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:03:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:03:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:46 INFO: [Worker 0] Object is not in grasp! 0.00123 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:03:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:03:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:03:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.190s, found 121 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:46 INFO: [Worker 0] Feasibility-checked 121 grasps in 0.690s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:46 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.056[m] 0.512[deg] [grasp_sample.py: 539] +05/13 20:03:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:03:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:03:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:03:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:03:59 INFO: [Worker 0] Object is not in grasp! 0.00163 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:03:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:03:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:03:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.190s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 20:03:59 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.643s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:03:59 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.066[m] 2.504[deg] [grasp_sample.py: 539] +05/13 20:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.204s, found 52 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:02 INFO: [Worker 0] Feasibility-checked 52 grasps in 0.642s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:02 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 2.548[deg] [grasp_sample.py: 539] +05/13 20:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:10 INFO: [Worker 0] Object is not in grasp! 0.00104 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:04:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 93 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:11 INFO: [Worker 0] Feasibility-checked 93 grasps in 0.629s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:11 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.028[m] 1.040[deg] [grasp_sample.py: 539] +05/13 20:04:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:13 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:04:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.225s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:16 INFO: [Worker 0] Feasibility-checked 77 grasps in 2.683s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:16 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.035[m] 4.938[deg] [grasp_sample.py: 539] +05/13 20:04:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:20 INFO: [Worker 0] Object is not in grasp! 0.00151 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:04:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.182s, found 147 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:21 INFO: [Worker 0] Feasibility-checked 147 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:21 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.042[m] 2.195[deg] [grasp_sample.py: 539] +05/13 20:04:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:24 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:04:25 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:04:25 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=1.07s: + episode_total: mean=78.34s, total=156.69s, count=2, min=11776.1ms, max=144909.3ms + sensor_polling: mean=428.1ms, total=125.87s, count=294, min=360.3ms, max=819.7ms + physics_step: mean=26.6ms, total=7.82s, count=294, min=16.9ms, max=70.5ms + task_sampling: mean=534.6ms, total=1.07s, count=2, min=527.9ms, max=541.3ms + task_specific_sample: mean=528.6ms, total=1.06s, count=2, min=523.4ms, max=533.8ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.1ms, max=2.6ms + mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, 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] +05/13 20:04:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:04:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:04:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:04:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:04:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:04:27 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: 256] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103362m [env.py: 870] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:04:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.77812033 -0.89118495 -0.10336215] yaw=-56.8deg [env.py: 1019] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56861576 -0.76929042 -0.10336215] yaw=-64.0deg [env.py: 1019] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.76655966 -0.69422161 -0.10336215] yaw=-95.0deg [env.py: 1019] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:04:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.4ms, total=226.4ms [env.py: 1075] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.778, -0.891, -0.103) [env.py: 1079] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg [env.py: 1082] +05/13 20:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:04:27 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/13 20:04:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 20:04:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:28 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:28 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:04:29 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:04:29 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=1.86s: + episode_total: mean=54.46s, total=163.39s, count=3, min=5008.8ms, max=145683.9ms + sensor_polling: mean=447.9ms, total=123.62s, count=276, min=387.2ms, max=831.8ms + physics_step: mean=27.4ms, total=7.56s, count=276, min=16.6ms, max=40.6ms + task_sampling: mean=620.5ms, total=1.86s, count=3, min=570.8ms, max=662.8ms + task_specific_sample: mean=616.4ms, total=1.85s, count=3, min=565.4ms, max=658.7ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=1.9ms + mj_forward_sync: mean=431.7us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=24.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:04:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.304s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.728[m] 87.311[deg] [grasp_sample.py: 539] +05/13 20:04:30 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:04:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:04:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:04:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:04:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:04:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:04:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:04:31 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: 256] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194111m [env.py: 870] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:04:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3743222 -1.09105845 -0.19411128] yaw=-66.5deg [env.py: 1019] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55575971 -0.97208133 -0.19411128] yaw=-73.5deg [env.py: 1019] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1147349 -1.39127291 -0.19411128] yaw=-24.9deg [env.py: 1019] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:04:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.0ms, total=209.0ms [env.py: 1075] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.091, -0.194) [env.py: 1079] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/13 20:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/13 20:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:04:31 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/13 20:04:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/13 20:04:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:04:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:04:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:04:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:04:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:04:32 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: 256] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103770m [env.py: 870] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:04:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26981378 -1.1709874 -0.1037701 ] yaw=-29.2deg [env.py: 1019] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66947053 -0.9115102 -0.1037701 ] yaw=-66.9deg [env.py: 1019] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:04:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=377.6ms, total=377.7ms [env.py: 1075] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.171, -0.104) [env.py: 1079] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.2 deg [env.py: 1082] +05/13 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:04:33 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/13 20:04:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:04:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.022s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:34 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.632[m] 86.077[deg] [grasp_sample.py: 539] +05/13 20:04:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:36 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.852s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.686[m] 79.766[deg] [grasp_sample.py: 539] +05/13 20:04:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 131 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:37 INFO: [Worker 0] Feasibility-checked 131 grasps in 0.508s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:37 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.045[m] 1.101[deg] [grasp_sample.py: 539] +05/13 20:04:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:41 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:04:41 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:04:41 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=1.09s: + episode_total: mean=50.55s, total=151.64s, count=3, min=332.7ms, max=147900.5ms + sensor_polling: mean=453.5ms, total=129.26s, count=285, min=379.8ms, max=981.5ms + physics_step: mean=26.8ms, total=7.64s, count=285, min=21.3ms, max=44.4ms + task_specific_sample: mean=470.8ms, total=1.41s, count=3, min=325.5ms, max=553.6ms + task_sampling: mean=546.6ms, total=1.09s, count=2, min=535.7ms, max=557.4ms + task_sampling_failed: mean=332.7ms, total=332.7ms, count=1, min=332.7ms, max=332.7ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.1ms, max=2.1ms + mj_forward_sync: mean=486.5us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:04:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:04:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:04:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:04:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:04:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:04:43 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: 256] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179661m [env.py: 870] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:04:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40932514 -0.87871751 -0.17966108] yaw=-77.5deg [env.py: 1019] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.1ms, total=231.2ms [env.py: 1075] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.879, -0.180) [env.py: 1079] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.5 deg [env.py: 1082] +05/13 20:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:04:43 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/13 20:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/13 20:04:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:04:54 INFO: [Worker 0] Feasibility-checked 243 grasps in 10.515s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:54 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.772[m] 101.558[deg] [grasp_sample.py: 539] +05/13 20:04:54 INFO: [Worker 0] Object is not in grasp! 0.00066 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:04:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.225s, found 39 non-colliding grasps [grasp_sample.py: 465] +05/13 20:04:55 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:04:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:04:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:04:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:04:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:04:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:04:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:04:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117334m [env.py: 870] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:04:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.5ms, total=239.6ms [env.py: 1105] +05/13 20:04:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:04:57 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:04:57 INFO: [Worker 0] Feasibility-checked 39 grasps in 2.673s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:04:57 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.029[m] 4.970[deg] [grasp_sample.py: 539] +05/13 20:04:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:04:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:04:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:04:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:04:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:04:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:04:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:04:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:04:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152349m [env.py: 870] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:04:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45584905 -1.04971855 -0.15234874] yaw=-34.8deg [env.py: 1019] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19788305 -1.32160571 -0.15234874] yaw=-40.8deg [env.py: 1019] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:04:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.7ms, total=242.8ms [env.py: 1075] +05/13 20:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -1.050, -0.152) [env.py: 1079] +05/13 20:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg [env.py: 1082] +05/13 20:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/13 20:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:04:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:04:59 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/13 20:04:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/13 20:04:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:04:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:04:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 240 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:01 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.612s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 90.294[deg] [grasp_sample.py: 539] +05/13 20:05:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:02 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:05:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:03 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: 256] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130511m [env.py: 870] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21181603 -0.97557358 -0.13051149] yaw=-61.4deg [env.py: 1019] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms [env.py: 1075] +05/13 20:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -0.976, -0.131) [env.py: 1079] +05/13 20:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/13 20:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/13 20:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:04 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.684s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:05:07 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:05:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:08 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: 256] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112816m [env.py: 870] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33301204 -0.96248396 -0.11281613] yaw=-72.2deg [env.py: 1019] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=656.7ms, total=656.8ms [env.py: 1075] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.962, -0.113) [env.py: 1079] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/13 20:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/13 20:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:09 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:05:13 INFO: [Worker 0] Feasibility-checked 242 grasps in 4.084s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:13 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.791[m] 98.448[deg] [grasp_sample.py: 539] +05/13 20:05:15 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:05:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:16 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: 256] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148823m [env.py: 870] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46753139 -1.08364555 -0.14882348] yaw=-33.2deg [env.py: 1019] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27451905 -1.04946296 -0.14882348] yaw=-21.2deg [env.py: 1019] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75236749 -0.84140039 -0.14882348] yaw=-71.9deg [env.py: 1019] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.1ms [env.py: 1075] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -1.084, -0.149) [env.py: 1079] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.2 deg [env.py: 1082] +05/13 20:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:16 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 230 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:17 INFO: [Worker 0] Object is not in grasp! 0.00096 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:05:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:05:17 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:05:17 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=0.65s: + episode_total: mean=139.35s, total=139.35s, count=1, min=139354.7ms, max=139354.7ms + sensor_polling: mean=421.5ms, total=118.86s, count=282, min=358.4ms, max=947.0ms + physics_step: mean=26.6ms, total=7.49s, count=282, min=16.5ms, max=66.7ms + task_sampling: mean=653.0ms, total=653.0ms, count=1, min=653.0ms, max=653.0ms + task_specific_sample: mean=649.9ms, total=649.9ms, count=1, min=649.9ms, max=649.9ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=567.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:05:18 INFO: [Worker 0] Feasibility-checked 230 grasps in 1.062s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:18 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.601[m] 76.576[deg] [grasp_sample.py: 539] +05/13 20:05:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:05:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:05:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115177m [env.py: 870] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20224964 -1.12587293 -0.11517713] yaw=-45.8deg [env.py: 1019] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=480.1ms, total=480.1ms [env.py: 1075] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.126, -0.115) [env.py: 1079] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/13 20:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:20 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.674s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.726[m] 90.774[deg] [grasp_sample.py: 539] +05/13 20:05:24 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116588m [env.py: 870] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38014897 -0.90790928 -0.11658758] yaw=-32.3deg [env.py: 1019] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13073547 -1.26772383 -0.11658758] yaw=-56.9deg [env.py: 1019] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2065826 -1.12285452 -0.11658758] yaw=-51.3deg [env.py: 1019] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=362.9ms, total=363.0ms [env.py: 1075] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -0.908, -0.117) [env.py: 1079] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg [env.py: 1082] +05/13 20:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:27 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:30 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.956s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:30 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.791[m] 83.178[deg] [grasp_sample.py: 539] +05/13 20:05:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:31 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:05:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:34 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: 256] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138646m [env.py: 870] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1154362 -1.14855554 -0.13864601] yaw=-60.1deg [env.py: 1019] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.5ms [env.py: 1075] +05/13 20:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.115, -1.149, -0.139) [env.py: 1079] +05/13 20:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/13 20:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/13 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:35 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.735s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:05:38 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:05:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:39 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: 256] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192177m [env.py: 870] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84015156 -0.67703078 -0.19217685] yaw=-62.7deg [env.py: 1019] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0454555 -1.29984625 -0.19217685] yaw=-16.0deg [env.py: 1019] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48704151 -0.86462459 -0.19217685] yaw=-53.0deg [env.py: 1019] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=336.9ms, total=337.0ms [env.py: 1075] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.840, -0.677, -0.192) [env.py: 1079] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/13 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/13 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:40 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:05:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.666s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:05:43 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:05:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:44 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: 256] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144856m [env.py: 870] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.4ms, total=226.5ms [env.py: 1105] +05/13 20:05:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:05:44 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] +05/13 20:05:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124496m [env.py: 870] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15750546 -0.97243068 -0.12449572] yaw=-54.1deg [env.py: 1019] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=297.4ms, total=297.4ms [env.py: 1075] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -0.972, -0.124) [env.py: 1079] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/13 20:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:46 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:05:48 INFO: [Worker 0] Object is not in grasp! 0.00108 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:05:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:05:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.220s, found 89 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.635s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:05:49 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:05:49 INFO: [Worker 0] Feasibility-checked 89 grasps in 0.722s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:49 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.027[m] 0.981[deg] [grasp_sample.py: 539] +05/13 20:05:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:05:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:05:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:05:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:05:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:05:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:05:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:05:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111305m [env.py: 870] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:05:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16456282 -1.2067148 -0.11130524] yaw=-15.1deg [env.py: 1019] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60055046 -0.75138738 -0.11130524] yaw=-56.6deg [env.py: 1019] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:05:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=280.2ms, total=280.3ms [env.py: 1075] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.207, -0.111) [env.py: 1079] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.1 deg [env.py: 1082] +05/13 20:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:05:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:05:51 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/13 20:05:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/13 20:05:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 226 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:53 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:05:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:05:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:05:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:05:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.227s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 20:05:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:54 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.715s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:05:54 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.032[m] 3.994[deg] [grasp_sample.py: 539] +05/13 20:05:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:05:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:05:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:05:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:06:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:07 INFO: [Worker 0] Feasibility-checked 68 grasps in 0.596s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:07 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.048[m] 5.424[deg] [grasp_sample.py: 539] +05/13 20:06:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:06:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:06:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:08 INFO: [Worker 0] Feasibility-checked 226 grasps in 16.576s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:08 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.709[m] 84.057[deg] [grasp_sample.py: 539] +05/13 20:06:10 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:06:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:06:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:06:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:06:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:06:11 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: 256] +05/13 20:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119467m [env.py: 870] +05/13 20:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=256.2ms, total=256.2ms [env.py: 1105] +05/13 20:06:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:06:12 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:06:12 INFO: [Worker 0] Object is not in grasp! 0.00187 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.228s, found 71 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:13 INFO: [Worker 0] Feasibility-checked 71 grasps in 0.681s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:13 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.045[m] 7.224[deg] [grasp_sample.py: 539] +05/13 20:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:06:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:06:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:06:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:06:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189703m [env.py: 870] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.9032137 -0.74533141 -0.18970277] yaw=-115.3deg [env.py: 1019] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35100428 -0.96454715 -0.18970277] yaw=-28.0deg [env.py: 1019] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48921788 -0.98925442 -0.18970277] yaw=-62.8deg [env.py: 1019] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=184.7ms, total=184.7ms [env.py: 1075] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.903, -0.745, -0.190) [env.py: 1079] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.3 deg [env.py: 1082] +05/13 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:06:14 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/13 20:06:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/13 20:06:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:25 INFO: [Worker 0] Feasibility-checked 248 grasps in 10.307s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:25 INFO: [Worker 0] Feasible grasp found 401 (originally 94): w/ 0.758[m] 94.066[deg] [grasp_sample.py: 539] +05/13 20:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:06:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:06:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:27 INFO: [Worker 0] Object is not in grasp! 0.00056 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:06:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.235s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.705s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:28 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 6.349[deg] [grasp_sample.py: 539] +05/13 20:06:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:06:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:06:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:06:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:06:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.217s, found 61 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:32 INFO: [Worker 0] Feasibility-checked 61 grasps in 0.659s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:32 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.035[m] 1.018[deg] [grasp_sample.py: 539] +05/13 20:06:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:06:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:06:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:06:47 INFO: [Worker 0] Object is not in grasp! 0.00108 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:47 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:06:47 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:06:47 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=False episode_total=0.49s: + episode_total: mean=136.57s, total=136.57s, count=1, min=136565.7ms, max=136565.7ms + sensor_polling: mean=437.4ms, total=120.27s, count=275, min=377.7ms, max=926.0ms + physics_step: mean=25.8ms, total=7.11s, count=275, min=21.3ms, max=61.2ms + task_sampling: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms + task_specific_sample: mean=491.3ms, total=491.3ms, count=1, min=491.3ms, max=491.3ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=434.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:06:49 INFO: [Worker 0] Object is not in grasp! 0.00115 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:06:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 99 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:06:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:06:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:06:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:06:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:06:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189901m [env.py: 870] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:06:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02809749 -1.2338554 -0.18990066] yaw=-9.5deg [env.py: 1019] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30834522 -1.20920141 -0.18990066] yaw=-36.3deg [env.py: 1019] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00331179 -1.28188429 -0.18990066] yaw=0.3deg [env.py: 1019] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:06:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.0ms [env.py: 1075] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.028, -1.234, -0.190) [env.py: 1079] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.5 deg [env.py: 1082] +05/13 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:50 INFO: [Worker 0] Feasibility-checked 99 grasps in 0.808s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:50 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.040[m] 3.316[deg] [grasp_sample.py: 539] +05/13 20:06:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:06:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:06:50 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/13 20:06:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/13 20:06:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:06:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 231 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:52 INFO: [Worker 0] Object is not in grasp! 0.00187 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:06:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:06:52 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:06:52 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=1.20s: + episode_total: mean=71.61s, total=143.22s, count=2, min=3293.2ms, max=139922.7ms + sensor_polling: mean=431.9ms, total=122.24s, count=283, min=357.6ms, max=753.8ms + physics_step: mean=28.1ms, total=7.95s, count=283, min=21.5ms, max=59.8ms + task_sampling: mean=599.0ms, total=1.20s, count=2, min=531.7ms, max=666.4ms + task_specific_sample: mean=595.2ms, total=1.19s, count=2, min=528.6ms, max=661.8ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.1ms, max=1.4ms + mj_forward_sync: mean=441.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.2us, 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] +05/13 20:06:53 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.631s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:06:53 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:06:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:06:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:06:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170125m [env.py: 870] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=441.5ms, total=441.5ms [env.py: 1105] +05/13 20:06:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:06:54 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:06:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:06:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137415m [env.py: 870] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65127672 -0.93403791 -0.13741531] yaw=-47.6deg [env.py: 1019] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:06:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:06:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156832m [env.py: 870] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71697617 -0.67758928 -0.13741531] yaw=-87.7deg [env.py: 1019] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46038503 -0.79991318 -0.13741531] yaw=-69.1deg [env.py: 1019] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=460.0ms, total=460.1ms [env.py: 1075] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.651, -0.934, -0.137) [env.py: 1079] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01521488 -1.32975974 -0.15683154] yaw=-36.1deg [env.py: 1019] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30928838 -1.0242512 -0.15683154] yaw=-71.6deg [env.py: 1019] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=517.2ms, total=517.3ms [env.py: 1075] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.015, -1.330, -0.157) [env.py: 1079] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/13 20:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:06:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:06:57 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/13 20:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/13 20:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:06:57 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/13 20:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/13 20:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:06:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:06:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 239 non-colliding grasps [grasp_sample.py: 465] +05/13 20:06:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.244s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:06:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.654[m] 83.760[deg] [grasp_sample.py: 539] +05/13 20:06:59 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:07:00 INFO: [Worker 0] Feasibility-checked 239 grasps in 2.729s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:07:00 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:07:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:07:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:07:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:07:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141016m [env.py: 870] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:07:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33959897 -0.84568977 -0.14101632] yaw=-30.9deg [env.py: 1019] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0452256 -1.27180928 -0.14101632] yaw=-38.0deg [env.py: 1019] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=334.2ms, total=334.3ms [env.py: 1075] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -0.846, -0.141) [env.py: 1079] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.9 deg [env.py: 1082] +05/13 20:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:07:01 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/13 20:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:07:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:07:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:07:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:07:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:07:02 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: 256] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186464m [env.py: 870] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:07:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80147097 -0.87498097 -0.18646437] yaw=-105.7deg [env.py: 1019] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50494188 -1.04282102 -0.18646437] yaw=-56.1deg [env.py: 1019] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:07:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=453.1ms, total=453.1ms [env.py: 1075] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.801, -0.875, -0.186) [env.py: 1079] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.7 deg [env.py: 1082] +05/13 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:07:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:07:03 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/13 20:07:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/13 20:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.036s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:07:04 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.654[m] 96.219[deg] [grasp_sample.py: 539] +05/13 20:07:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:07:04 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.910s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:07:04 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:07:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:07:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:07:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:07:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:07:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171252m [env.py: 870] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20035574 -1.28620948 -0.17125152] yaw=-44.6deg [env.py: 1019] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:07:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=332.6ms, total=332.7ms [env.py: 1075] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.286, -0.171) [env.py: 1079] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/13 20:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:07:08 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/13 20:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/13 20:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:07:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 127 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:10 INFO: [Worker 0] Feasibility-checked 127 grasps in 0.620s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:07:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.063[m] 0.672[deg] [grasp_sample.py: 539] +05/13 20:07:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:07:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.008s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:07:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.656[m] 81.232[deg] [grasp_sample.py: 539] +05/13 20:07:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:07:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:07:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:07:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:07:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:07:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:07:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:35 INFO: [Worker 0] Object is not in grasp! 0.00116 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:07:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:07:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.201s, found 99 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:36 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.601s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:07:36 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.527[m] 71.732[deg] [grasp_sample.py: 539] +05/13 20:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:07:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:07:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:36 INFO: [Worker 0] Feasibility-checked 99 grasps in 0.849s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:07:36 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.270[deg] [grasp_sample.py: 539] +05/13 20:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:07:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:07:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:07:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:07:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:07:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:52 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.623s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:07:52 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.523[m] 71.027[deg] [grasp_sample.py: 539] +05/13 20:07:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:07:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:07:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:56 INFO: [Worker 0] Object is not in grasp! 0.00197 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:07:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:07:56 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:07:56 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=2.83s: + episode_total: mean=31.09s, total=186.54s, count=6, min=254.7ms, max=160136.6ms + sensor_polling: mean=429.8ms, total=127.22s, count=296, min=367.8ms, max=943.0ms + physics_step: mean=26.6ms, total=7.87s, count=296, min=16.6ms, max=67.4ms + task_specific_sample: mean=509.9ms, total=3.06s, count=6, min=245.9ms, max=928.9ms + task_sampling: mean=565.4ms, total=2.83s, count=5, min=390.5ms, max=931.4ms + task_sampling_failed: mean=254.6ms, total=254.6ms, count=1, min=254.6ms, max=254.6ms + scene_randomize: mean=1.3ms, total=8.0ms, count=6, min=1.1ms, max=2.1ms + mj_forward_sync: mean=435.2us, total=2.6ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:07:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:07:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:07:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:07:58 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: 256] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128163m [env.py: 870] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82270793 -0.86913557 -0.12816341] yaw=-84.6deg [env.py: 1019] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.05928818 -1.24208647 -0.12816341] yaw=-24.4deg [env.py: 1019] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:07:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=395.3ms, total=395.3ms [env.py: 1075] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.823, -0.869, -0.128) [env.py: 1079] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.6 deg [env.py: 1082] +05/13 20:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:07:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:07:58 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/13 20:07:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/13 20:07:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:07:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:07:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.383s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.673[m] 96.680[deg] [grasp_sample.py: 539] +05/13 20:08:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:08:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:07 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.560s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:07 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.523[m] 71.027[deg] [grasp_sample.py: 539] +05/13 20:08:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:16 INFO: [Worker 0] Object is not in grasp! 0.00190 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:08:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:08:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.204s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:17 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.802s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:17 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 6.273[deg] [grasp_sample.py: 539] +05/13 20:08:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:08:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:08:21 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:08:21 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=2.23s: + episode_total: mean=28.71s, total=86.13s, count=3, min=3470.6ms, max=78842.0ms + sensor_polling: mean=433.4ms, total=30.77s, count=71, min=387.7ms, max=801.6ms + task_sampling: mean=744.8ms, total=2.23s, count=3, min=570.6ms, max=866.8ms + task_specific_sample: mean=737.9ms, total=2.21s, count=3, min=560.0ms, max=860.7ms + physics_step: mean=21.8ms, total=1.55s, count=71, min=14.4ms, max=28.8ms + scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.4ms, max=2.3ms + mj_forward_sync: mean=482.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=24.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:08:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:23 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: 256] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175135m [env.py: 870] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.87623862 -0.87809141 -0.17513489] yaw=-94.7deg [env.py: 1019] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=423.0ms, total=423.1ms [env.py: 1075] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.876, -0.878, -0.175) [env.py: 1079] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.7 deg [env.py: 1082] +05/13 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:23 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:25 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.628[m] 89.868[deg] [grasp_sample.py: 539] +05/13 20:08:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:08:29 INFO: [Worker 0] Feasibility-checked 244 grasps in 49.665s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:29 INFO: [Worker 0] Feasible grasp found 367 (originally 60): w/ 0.159[m] 28.245[deg] [grasp_sample.py: 539] +05/13 20:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:30 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:32 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: 256] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179538m [env.py: 870] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11813563 -1.21766476 -0.17953753] yaw=-33.6deg [env.py: 1019] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.7516907 -0.74068954 -0.17953753] yaw=-58.6deg [env.py: 1019] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28153718 -0.95345565 -0.17953753] yaw=-65.1deg [env.py: 1019] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=96.7ms, total=96.8ms [env.py: 1075] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.118, -1.218, -0.180) [env.py: 1079] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg [env.py: 1082] +05/13 20:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:32 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 239 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:36 INFO: [Worker 0] Object is not in grasp! 0.00140 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:08:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 121 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:08:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:36 INFO: [Worker 0] Feasibility-checked 121 grasps in 0.581s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.053[m] 0.674[deg] [grasp_sample.py: 539] +05/13 20:08:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:37 INFO: [Worker 0] Feasibility-checked 239 grasps in 4.519s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:37 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.684[m] 75.679[deg] [grasp_sample.py: 539] +05/13 20:08:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:38 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:08:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119545m [env.py: 870] +05/13 20:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13217475 -1.14646802 -0.11954527] yaw=-34.6deg [env.py: 1019] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.1ms, total=214.2ms [env.py: 1075] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.132, -1.146, -0.120) [env.py: 1079] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg [env.py: 1082] +05/13 20:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/13 20:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:40 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.043s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.463[m] 61.732[deg] [grasp_sample.py: 539] +05/13 20:08:42 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:08:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:43 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.663s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:08:43 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:08:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132631m [env.py: 870] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:44 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: 256] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112360m [env.py: 870] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30291092 -0.97671533 -0.13263107] yaw=-31.4deg [env.py: 1019] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64766686 -0.80942955 -0.13263107] yaw=-48.3deg [env.py: 1019] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63571137 -0.95293765 -0.13263107] yaw=-59.8deg [env.py: 1019] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=443.1ms, total=443.1ms [env.py: 1075] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -0.977, -0.133) [env.py: 1079] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.4 deg [env.py: 1082] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15591004 -1.21120228 -0.11235977] yaw=-16.3deg [env.py: 1019] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=430.6ms, total=430.7ms [env.py: 1075] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.211, -0.112) [env.py: 1079] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.3 deg [env.py: 1082] +05/13 20:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:45 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:45 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 232 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:48 INFO: [Worker 0] Feasibility-checked 243 grasps in 3.148s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.742[m] 84.443[deg] [grasp_sample.py: 539] +05/13 20:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:50 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:08:50 INFO: [Worker 0] Feasibility-checked 232 grasps in 4.472s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:50 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.711[m] 88.209[deg] [grasp_sample.py: 539] +05/13 20:08:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:08:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:08:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:51 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: 256] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108314m [env.py: 870] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.67169262 -0.94821641 -0.10831351] yaw=-44.3deg [env.py: 1019] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.9ms, total=257.0ms [env.py: 1075] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.672, -0.948, -0.108) [env.py: 1079] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/13 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:52 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.753s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.670[m] 85.836[deg] [grasp_sample.py: 539] +05/13 20:08:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:55 INFO: [Worker 0] Object is not in grasp! 0.00174 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:08:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:08:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:08:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.205s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 20:08:56 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:08:56 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.758s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:08:56 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.030[m] 5.202[deg] [grasp_sample.py: 539] +05/13 20:08:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:08:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:08:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:08:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:08:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:08:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:08:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:08:59 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: 256] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180122m [env.py: 870] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:08:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20069714 -1.37276708 -0.18012235] yaw=-38.1deg [env.py: 1019] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46951295 -0.74212481 -0.18012235] yaw=-41.4deg [env.py: 1019] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:08:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=334.0ms, total=334.1ms [env.py: 1075] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -1.373, -0.180) [env.py: 1079] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/13 20:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:08:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:08:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:08:59 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/13 20:08:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/13 20:08:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:08:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:09:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 236 non-colliding grasps [grasp_sample.py: 465] +05/13 20:09:02 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.909s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:09:02 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.620[m] 88.662[deg] [grasp_sample.py: 539] +05/13 20:09:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:09:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:09:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:09:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:09:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:09:11 INFO: [Worker 0] Object is not in grasp! 0.00075 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:09:11 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:09:12 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:09:12 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=2.24s: + episode_total: mean=33.07s, total=132.28s, count=4, min=454.2ms, max=124516.9ms + sensor_polling: mean=399.5ms, total=109.07s, count=273, min=352.4ms, max=779.6ms + physics_step: mean=25.9ms, total=7.07s, count=273, min=17.1ms, max=74.8ms + task_specific_sample: mean=669.3ms, total=2.68s, count=4, min=450.6ms, max=872.0ms + task_sampling: mean=747.0ms, total=2.24s, count=3, min=628.1ms, max=879.5ms + task_sampling_failed: mean=454.1ms, total=454.1ms, count=1, min=454.1ms, max=454.1ms + scene_randomize: mean=1.5ms, total=6.0ms, count=4, min=1.1ms, max=2.1ms + mj_forward_sync: mean=473.4us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:09:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:09:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:09:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:09:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:09:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:09:13 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: 256] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150142m [env.py: 870] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:09:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21979588 -1.23178326 -0.15014186] yaw=-37.5deg [env.py: 1019] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00203215 -1.35541677 -0.15014186] yaw=-42.3deg [env.py: 1019] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.82821392 -0.74840596 -0.15014186] yaw=-74.5deg [env.py: 1019] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:09:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=194.0ms [env.py: 1075] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.232, -0.150) [env.py: 1079] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/13 20:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:09:14 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/13 20:09:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/13 20:09:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:09:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:09:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 241 non-colliding grasps [grasp_sample.py: 465] +05/13 20:09:17 INFO: [Worker 0] Feasibility-checked 241 grasps in 2.941s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:09:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.609[m] 77.442[deg] [grasp_sample.py: 539] +05/13 20:09:18 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:09:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:09:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:09:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:09:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:09:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:09:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128545m [env.py: 870] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:09:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15294183 -1.00837147 -0.12854466] yaw=-28.1deg [env.py: 1019] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.2ms [env.py: 1075] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.153, -1.008, -0.129) [env.py: 1079] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.1 deg [env.py: 1082] +05/13 20:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:09:22 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/13 20:09:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 20:09:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:09:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:09:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:09:25 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.813s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:09:25 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:09:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:09:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:09:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:09:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:09:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:09:27 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: 256] +05/13 20:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152854m [env.py: 870] +05/13 20:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:09:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.80672922 -0.94396346 -0.15285373] yaw=-74.6deg [env.py: 1019] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.292792 -1.10462931 -0.15285373] yaw=-31.1deg [env.py: 1019] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04325125 -1.24779646 -0.15285373] yaw=-10.0deg [env.py: 1019] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.7ms, total=129.8ms [env.py: 1075] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.807, -0.944, -0.153) [env.py: 1079] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg [env.py: 1082] +05/13 20:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/13 20:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:09:28 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/13 20:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/13 20:09:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:09:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:09:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:09:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:09:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.484s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:09:31 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.584[m] 97.041[deg] [grasp_sample.py: 539] +05/13 20:09:32 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:09:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:09:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:09:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:09:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:09:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:09:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140419m [env.py: 870] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:09:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.0ms, total=212.0ms [env.py: 1105] +05/13 20:09:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:09:35 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:09:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:09:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:09:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:09:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:09:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:09:37 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: 256] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113363m [env.py: 870] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:09:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57580096 -0.78276276 -0.11336281] yaw=-41.5deg [env.py: 1019] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.88090399 -0.82058436 -0.11336281] yaw=-94.0deg [env.py: 1019] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47968423 -0.86202488 -0.11336281] yaw=-63.3deg [env.py: 1019] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:09:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.5ms, total=364.5ms [env.py: 1075] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.783, -0.113) [env.py: 1079] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/13 20:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:09:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:09:38 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/13 20:09:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/13 20:09:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:09:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:09:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:09:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:09:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.722s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:09:41 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.807[m] 91.955[deg] [grasp_sample.py: 539] +05/13 20:09:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:09:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:09:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:09:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:09:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:09:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:09:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:09:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.181s, found 85 non-colliding grasps [grasp_sample.py: 465] +05/13 20:09:45 INFO: [Worker 0] Feasibility-checked 85 grasps in 0.630s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:09:45 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.035[m] 5.871[deg] [grasp_sample.py: 539] +05/13 20:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:09:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:09:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:09:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:09:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:09:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:08 INFO: [Worker 0] Object is not in grasp! 0.00024 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:08 INFO: [Worker 0] Object is not in grasp! 0.00113 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.227s, found 32 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 126 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:09 INFO: [Worker 0] Feasibility-checked 32 grasps in 0.582s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:09 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.028[m] 2.108[deg] [grasp_sample.py: 539] +05/13 20:10:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:09 INFO: [Worker 0] Feasibility-checked 126 grasps in 0.735s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:09 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.044[m] 1.025[deg] [grasp_sample.py: 539] +05/13 20:10:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 137 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:18 INFO: [Worker 0] Feasibility-checked 137 grasps in 2.864s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:18 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.033[m] 12.303[deg] [grasp_sample.py: 539] +05/13 20:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:26 INFO: [Worker 0] Object is not in grasp! 0.00002 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.219s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:27 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.700s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:27 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.028[m] 1.150[deg] [grasp_sample.py: 539] +05/13 20:10:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:33 INFO: [Worker 0] Object is not in grasp! 0.00103 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:34 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.637s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:34 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.031[m] 2.902[deg] [grasp_sample.py: 539] +05/13 20:10:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:36 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.203s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:39 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.810s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:39 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.038[m] 4.878[deg] [grasp_sample.py: 539] +05/13 20:10:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:46 INFO: [Worker 0] Object is not in grasp! 0.00193 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:10:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.179s, found 81 non-colliding grasps [grasp_sample.py: 465] +05/13 20:10:46 INFO: [Worker 0] Feasibility-checked 81 grasps in 0.548s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:10:46 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.049[m] 5.168[deg] [grasp_sample.py: 539] +05/13 20:10:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:10:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:10:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:10:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:10:54 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:10:55 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:10:55 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=0.73s: + episode_total: mean=151.98s, total=151.98s, count=1, min=151982.8ms, max=151982.8ms + sensor_polling: mean=435.3ms, total=125.81s, count=289, min=382.1ms, max=834.7ms + physics_step: mean=26.0ms, total=7.51s, count=289, min=17.2ms, max=68.1ms + task_sampling: mean=734.4ms, total=734.4ms, count=1, min=734.4ms, max=734.4ms + task_specific_sample: mean=730.7ms, total=730.7ms, count=1, min=730.7ms, max=730.7ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=439.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:10:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:10:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:10:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:10:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:10:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:10:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:10:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:10:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196773m [env.py: 870] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:10:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16569322 -1.44539393 -0.19677255] yaw=8.3deg [env.py: 1019] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23180517 -1.24347243 -0.19677255] yaw=-53.7deg [env.py: 1019] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:10:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=252.2ms, total=252.3ms [env.py: 1075] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -1.445, -0.197) [env.py: 1079] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 8.3 deg [env.py: 1082] +05/13 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:10:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:10:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:10:57 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/13 20:10:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/13 20:10:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:10:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:10:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 225 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:00 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:11:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:11:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.180s, found 150 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:11:03 INFO: [Worker 0] Feasibility-checked 150 grasps in 2.807s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:03 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.033[m] 0.804[deg] [grasp_sample.py: 539] +05/13 20:11:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:11:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:11:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:11:04 INFO: [Worker 0] Feasibility-checked 225 grasps in 6.095s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:04 INFO: [Worker 0] Feasible grasp found 165 (originally 165): w/ 0.639[m] 79.645[deg] [grasp_sample.py: 539] +05/13 20:11:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:11:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:11:04 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:11:04 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=7.39s: + episode_total: mean=23.04s, total=322.49s, count=14, min=236.3ms, max=136700.8ms + sensor_polling: mean=409.5ms, total=165.86s, count=405, min=349.3ms, max=826.4ms + physics_step: mean=25.7ms, total=10.42s, count=405, min=16.8ms, max=96.0ms + task_specific_sample: mean=559.9ms, total=7.84s, count=14, min=232.2ms, max=787.2ms + task_sampling: mean=615.4ms, total=7.39s, count=12, min=377.2ms, max=791.7ms + task_sampling_failed: mean=252.6ms, total=505.1ms, count=2, min=236.3ms, max=268.9ms + scene_randomize: mean=1.5ms, total=21.3ms, count=14, min=1.0ms, max=2.6ms + mj_forward_sync: mean=515.5us, total=7.2ms, count=14, min=0.4ms, max=0.8ms + policy_setup: mean=21.3us, total=0.3ms, count=12, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:11:05 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:11:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:06 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: 256] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169034m [env.py: 870] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61373576 -0.78528232 -0.16903419] yaw=-81.9deg [env.py: 1019] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.90846235 -0.65748424 -0.16903419] yaw=-114.9deg [env.py: 1019] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46551194 -0.90100135 -0.16903419] yaw=-55.4deg [env.py: 1019] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.614, -0.785, -0.169) [env.py: 1079] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.9 deg [env.py: 1082] +05/13 20:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:07 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:07 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: 256] +05/13 20:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106107m [env.py: 870] +05/13 20:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.7846697 -0.73687672 -0.1061067 ] yaw=-99.8deg [env.py: 1019] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14796938 -1.41349161 -0.1061067 ] yaw=-46.3deg [env.py: 1019] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.2ms, total=269.2ms [env.py: 1075] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.785, -0.737, -0.106) [env.py: 1079] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.8 deg [env.py: 1082] +05/13 20:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/13 20:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:08 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:11:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:11:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.192s, found 147 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:11 INFO: [Worker 0] Feasibility-checked 147 grasps in 2.748s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:11 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.004[m] 47.849[deg] [grasp_sample.py: 539] +05/13 20:11:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:11:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:11:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.603s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:13 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.742[m] 100.921[deg] [grasp_sample.py: 539] +05/13 20:11:14 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:11:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:11:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179310m [env.py: 870] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85863428 -0.89924032 -0.17930973] yaw=-82.8deg [env.py: 1019] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.84253022 -0.8295648 -0.17930973] yaw=-111.6deg [env.py: 1019] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=341.4ms, total=341.5ms [env.py: 1075] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.859, -0.899, -0.179) [env.py: 1079] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.8 deg [env.py: 1082] +05/13 20:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:16 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.679s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:18 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.603[m] 100.597[deg] [grasp_sample.py: 539] +05/13 20:11:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:11:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:11:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:20 INFO: [Worker 0] Object is not in grasp! 0.00195 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:11:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:11:20 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:11:20 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=False episode_total=1.53s: + episode_total: mean=99.99s, total=199.97s, count=2, min=44174.4ms, max=155798.6ms + sensor_polling: mean=439.6ms, total=153.88s, count=350, min=369.6ms, max=831.8ms + physics_step: mean=27.1ms, total=9.50s, count=350, min=16.9ms, max=58.9ms + task_sampling: mean=763.9ms, total=1.53s, count=2, min=675.1ms, max=852.7ms + task_specific_sample: mean=759.3ms, total=1.52s, count=2, min=672.4ms, max=846.1ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.3ms, max=1.8ms + mj_forward_sync: mean=634.3us, total=1.3ms, count=2, min=0.4ms, max=0.8ms + policy_setup: mean=21.8us, 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] +05/13 20:11:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193149m [env.py: 870] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43724955 -0.92550388 -0.19314911] yaw=-33.7deg [env.py: 1019] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.10359754 -1.26354605 -0.19314911] yaw=-39.0deg [env.py: 1019] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=324.5ms, total=324.5ms [env.py: 1075] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.926, -0.193) [env.py: 1079] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.7 deg [env.py: 1082] +05/13 20:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/13 20:11:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:23 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:25 INFO: [Worker 0] Feasibility-checked 243 grasps in 16.502s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:25 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.816[m] 104.275[deg] [grasp_sample.py: 539] +05/13 20:11:26 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:11:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:28 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: 256] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147436m [env.py: 870] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6217704 -0.96023778 -0.14743631] yaw=-59.8deg [env.py: 1019] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.81018516 -0.84050773 -0.14743631] yaw=-54.2deg [env.py: 1019] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=258.3ms, total=258.4ms [env.py: 1075] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.960, -0.147) [env.py: 1079] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/13 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:29 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.170s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:30 INFO: [Worker 0] Feasibility-checked 242 grasps in 7.165s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:30 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.698[m] 83.436[deg] [grasp_sample.py: 539] +05/13 20:11:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.406s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.637[m] 83.601[deg] [grasp_sample.py: 539] +05/13 20:11:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:11:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:11:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:11:32 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:11:32 INFO: [Worker 0] Object is not in grasp! 0.00130 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:11:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 164 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:34 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: 256] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130454m [env.py: 870] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08071916 -1.09486375 -0.13045377] yaw=-12.2deg [env.py: 1019] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42668339 -1.09332852 -0.13045377] yaw=-57.1deg [env.py: 1019] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04889244 -1.36420683 -0.13045377] yaw=-45.5deg [env.py: 1019] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.4ms, total=339.4ms [env.py: 1075] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.081, -1.095, -0.130) [env.py: 1079] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.2 deg [env.py: 1082] +05/13 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:35 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:35 INFO: [Worker 0] Feasibility-checked 164 grasps in 2.682s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:11:35 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:11:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135830m [env.py: 870] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54460764 -0.7354599 -0.13583034] yaw=-62.2deg [env.py: 1019] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25322459 -1.01952516 -0.13583034] yaw=-73.2deg [env.py: 1019] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08107335 -1.17140673 -0.13583034] yaw=-17.8deg [env.py: 1019] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=602.8ms, total=602.8ms [env.py: 1075] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.545, -0.735, -0.136) [env.py: 1079] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/13 20:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:37 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:38 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.969s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:11:38 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:40 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: 256] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192479m [env.py: 870] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74191148 -0.68635847 -0.19247909] yaw=-83.0deg [env.py: 1019] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75583257 -0.66858198 -0.19247909] yaw=-85.1deg [env.py: 1019] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.4ms [env.py: 1075] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.742, -0.686, -0.192) [env.py: 1079] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.0 deg [env.py: 1082] +05/13 20:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.922s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:11:41 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:11:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:41 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155284m [env.py: 870] +05/13 20:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37566956 -0.95919041 -0.15528353] yaw=-76.5deg [env.py: 1019] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=276.6ms, total=276.6ms [env.py: 1075] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -0.959, -0.155) [env.py: 1079] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.5 deg [env.py: 1082] +05/13 20:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/13 20:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:43 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.856s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:11:44 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155276m [env.py: 870] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25178646 -1.32858223 -0.15527625] yaw=-10.4deg [env.py: 1019] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.9ms, total=233.0ms [env.py: 1075] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.329, -0.155) [env.py: 1079] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.4 deg [env.py: 1082] +05/13 20:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/13 20:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:46 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 231 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:11:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:49 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.263s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:49 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.455[m] 69.932[deg] [grasp_sample.py: 539] +05/13 20:11:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:11:49 INFO: [Worker 0] Feasibility-checked 243 grasps in 5.734s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:49 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.777[m] 96.820[deg] [grasp_sample.py: 539] +05/13 20:11:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:11:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:11:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:11:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:11:50 INFO: [Worker 0] Feasibility-checked 231 grasps in 3.733s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:11:50 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.598[m] 89.217[deg] [grasp_sample.py: 539] +05/13 20:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:51 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:53 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: 256] +05/13 20:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150836m [env.py: 870] +05/13 20:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00227749 -1.28545623 -0.15083634] yaw=-39.9deg [env.py: 1019] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.73851975 -0.95729589 -0.15083634] yaw=-94.7deg [env.py: 1019] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16771932 -1.30976663 -0.15083634] yaw=-16.1deg [env.py: 1019] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.7ms, total=93.8ms [env.py: 1075] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.002, -1.285, -0.151) [env.py: 1079] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/13 20:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/13 20:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:54 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/13 20:11:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/13 20:11:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:11:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 240 non-colliding grasps [grasp_sample.py: 465] +05/13 20:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:57 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.869s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:11:57 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:11:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:11:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:11:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:11:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:11:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:11:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166792m [env.py: 870] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:11:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13459619 -0.99727351 -0.16679163] yaw=-18.6deg [env.py: 1019] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:11:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=301.6ms, total=301.7ms [env.py: 1075] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -0.997, -0.167) [env.py: 1079] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.6 deg [env.py: 1082] +05/13 20:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:11:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:11:59 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:12:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:02 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.796s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:12:02 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:12:03 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.287s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:12:03 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.455[m] 69.932[deg] [grasp_sample.py: 539] +05/13 20:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:12:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:12:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:05 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: 256] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174938m [env.py: 870] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12884874 -1.26501746 -0.17493796] yaw=-15.3deg [env.py: 1019] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32116879 -0.85117542 -0.17493796] yaw=-81.9deg [env.py: 1019] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43604118 -0.94934797 -0.17493796] yaw=-83.9deg [env.py: 1019] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=176.1ms, total=176.1ms [env.py: 1075] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.265, -0.175) [env.py: 1079] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.3 deg [env.py: 1082] +05/13 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:12:05 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:08 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.989s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:12:08 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.711[m] 78.364[deg] [grasp_sample.py: 539] +05/13 20:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:10 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:12:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124045m [env.py: 870] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=221.7ms, total=221.8ms [env.py: 1105] +05/13 20:12:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:12:12 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:14 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: 256] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161878m [env.py: 870] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51684984 -1.0269281 -0.16187823] yaw=-84.8deg [env.py: 1019] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.9ms, total=248.9ms [env.py: 1075] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -1.027, -0.162) [env.py: 1079] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.8 deg [env.py: 1082] +05/13 20:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:12:15 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:16 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.298s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:12:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.677[m] 100.793[deg] [grasp_sample.py: 539] +05/13 20:12:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:12:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:12:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:12:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:12:18 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.691s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:12:18 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.455[m] 69.932[deg] [grasp_sample.py: 539] +05/13 20:12:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:12:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:12:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:12:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:12:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:12:32 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:12:32 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=False episode_total=1.50s: + episode_total: mean=42.20s, total=84.40s, count=2, min=8134.8ms, max=76268.9ms + sensor_polling: mean=392.7ms, total=28.28s, count=72, min=350.7ms, max=499.9ms + task_sampling: mean=749.1ms, total=1.50s, count=2, min=691.7ms, max=806.4ms + task_specific_sample: mean=744.7ms, total=1.49s, count=2, min=685.8ms, max=803.6ms + physics_step: mean=20.1ms, total=1.44s, count=72, min=14.3ms, max=30.9ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.4ms, max=2.1ms + mj_forward_sync: mean=522.1us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=11.9us, 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] +05/13 20:12:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136255m [env.py: 870] +05/13 20:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02316372 -1.37574896 -0.13625463] yaw=-31.4deg [env.py: 1019] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:12:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=335.4ms, total=335.5ms [env.py: 1075] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.023, -1.376, -0.136) [env.py: 1079] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.4 deg [env.py: 1082] +05/13 20:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/13 20:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:12:34 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 238 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:12:37 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.917s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:12:37 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195324m [env.py: 870] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=310.2ms, total=310.3ms [env.py: 1105] +05/13 20:12:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:12:41 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:44 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: 256] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130212m [env.py: 870] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55181527 -0.8419441 -0.13021184] yaw=-42.1deg [env.py: 1019] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23136745 -1.22502893 -0.13021184] yaw=-11.5deg [env.py: 1019] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23509031 -1.34748043 -0.13021184] yaw=-35.6deg [env.py: 1019] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.6ms, total=323.6ms [env.py: 1075] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.842, -0.130) [env.py: 1079] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/13 20:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:12:44 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.876s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:12:48 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.787[m] 90.703[deg] [grasp_sample.py: 539] +05/13 20:12:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:12:49 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:12:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166794m [env.py: 870] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47544026 -0.78951839 -0.16679383] yaw=-48.7deg [env.py: 1019] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46000603 -0.8482237 -0.16679383] yaw=-62.9deg [env.py: 1019] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:12:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=270.4ms, total=270.4ms [env.py: 1075] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.790, -0.167) [env.py: 1079] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/13 20:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:12:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:12:52 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.818s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:12:56 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:12:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:12:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:12:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:12:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:12:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:12:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195412m [env.py: 870] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:12:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65543333 -0.96347468 -0.19541175] yaw=-54.2deg [env.py: 1019] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29752748 -0.95740592 -0.19541175] yaw=-23.5deg [env.py: 1019] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60472452 -0.79277002 -0.19541175] yaw=-70.3deg [env.py: 1019] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:12:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.7ms, total=190.7ms [env.py: 1075] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.655, -0.963, -0.195) [env.py: 1079] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/13 20:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:12:57 INFO: [Worker 0] Object is not in grasp! 0.00126 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:12:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:12:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.191s, found 89 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:12:57 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/13 20:12:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 20:12:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:12:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:12:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:12:58 INFO: [Worker 0] Feasibility-checked 89 grasps in 0.819s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:12:58 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.031[m] 2.908[deg] [grasp_sample.py: 539] +05/13 20:12:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:12:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:12:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.215s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:04 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.583[m] 103.940[deg] [grasp_sample.py: 539] +05/13 20:13:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:13:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:13:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:19 INFO: [Worker 0] Object is not in grasp! 0.00174 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:13:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:13:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:13:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:13:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.202s, found 91 non-colliding grasps [grasp_sample.py: 465] +05/13 20:13:20 INFO: [Worker 0] Feasibility-checked 91 grasps in 0.788s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:20 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.039[m] 0.340[deg] [grasp_sample.py: 539] +05/13 20:13:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:21 INFO: [Worker 0] Object is not in grasp! 0.00182 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:13:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:13:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:13:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:13:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 125 non-colliding grasps [grasp_sample.py: 465] +05/13 20:13:21 INFO: [Worker 0] Feasibility-checked 125 grasps in 0.655s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:21 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.051[m] 2.229[deg] [grasp_sample.py: 539] +05/13 20:13:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:34 INFO: [Worker 0] Object is not in grasp! 0.00142 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:13:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:13:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:13:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 98 non-colliding grasps [grasp_sample.py: 465] +05/13 20:13:35 INFO: [Worker 0] Feasibility-checked 98 grasps in 0.638s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:35 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.029[m] 2.474[deg] [grasp_sample.py: 539] +05/13 20:13:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:40 INFO: [Worker 0] Object is not in grasp! 0.00148 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:13:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:13:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:13:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:13:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 129 non-colliding grasps [grasp_sample.py: 465] +05/13 20:13:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:40 INFO: [Worker 0] Feasibility-checked 129 grasps in 0.600s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.060[m] 1.075[deg] [grasp_sample.py: 539] +05/13 20:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:46 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:13:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:13:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:13:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:13:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.216s, found 113 non-colliding grasps [grasp_sample.py: 465] +05/13 20:13:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:47 INFO: [Worker 0] Feasibility-checked 113 grasps in 0.624s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:47 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.031[m] 2.818[deg] [grasp_sample.py: 539] +05/13 20:13:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:13:57 INFO: [Worker 0] Object is not in grasp! 0.00130 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:13:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:13:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:13:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:13:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.202s, found 93 non-colliding grasps [grasp_sample.py: 465] +05/13 20:13:58 INFO: [Worker 0] Feasibility-checked 93 grasps in 0.674s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:13:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.035[m] 0.217[deg] [grasp_sample.py: 539] +05/13 20:13:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:13:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:13:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:13:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:14:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:02 INFO: [Worker 0] Object is not in grasp! 0.00146 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:14:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:14:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 96 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:03 INFO: [Worker 0] Feasibility-checked 96 grasps in 0.814s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:03 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.030[m] 0.557[deg] [grasp_sample.py: 539] +05/13 20:14:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:14:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:08 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:14:08 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=1.94s: + episode_total: mean=62.27s, total=186.80s, count=3, min=8125.4ms, max=159951.0ms + sensor_polling: mean=470.4ms, total=141.12s, count=300, min=387.4ms, max=832.6ms + physics_step: mean=26.9ms, total=8.08s, count=300, min=17.7ms, max=63.7ms + task_sampling: mean=646.6ms, total=1.94s, count=3, min=578.5ms, max=708.3ms + task_specific_sample: mean=638.7ms, total=1.92s, count=3, min=573.3ms, max=697.0ms + scene_randomize: mean=3.9ms, total=11.7ms, count=3, min=1.9ms, max=5.3ms + mj_forward_sync: mean=500.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:14:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:14:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:14:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:14:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:14:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:14:10 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: 256] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106062m [env.py: 870] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:14:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33282109 -1.19582208 -0.10606175] yaw=-47.7deg [env.py: 1019] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35185121 -1.06216417 -0.10606175] yaw=-62.3deg [env.py: 1019] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17679448 -1.4264036 -0.10606175] yaw=-4.9deg [env.py: 1019] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms [env.py: 1075] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -1.196, -0.106) [env.py: 1079] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg [env.py: 1082] +05/13 20:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:14:10 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/13 20:14:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/13 20:14:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:14:14 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:14:14 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=3.70s: + episode_total: mean=40.98s, total=286.88s, count=7, min=222.8ms, max=151741.8ms + sensor_polling: mean=423.7ms, total=229.63s, count=542, min=349.1ms, max=750.5ms + physics_step: mean=26.0ms, total=14.08s, count=542, min=16.6ms, max=65.1ms + task_specific_sample: mean=556.7ms, total=3.90s, count=7, min=217.9ms, max=949.8ms + task_sampling: mean=617.3ms, total=3.70s, count=6, min=377.1ms, max=952.9ms + task_sampling_failed: mean=222.7ms, total=222.7ms, count=1, min=222.7ms, max=222.7ms + scene_randomize: mean=1.6ms, total=11.4ms, count=7, min=1.3ms, max=2.6ms + mj_forward_sync: mean=435.7us, total=3.0ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=19.3us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:14:14 INFO: [Worker 0] Object is not in grasp! 0.00135 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:14:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:14:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 118 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:15 INFO: [Worker 0] Feasibility-checked 118 grasps in 0.749s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:15 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.034[m] 2.611[deg] [grasp_sample.py: 539] +05/13 20:14:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:14:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:14:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:14:16 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: 256] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172093m [env.py: 870] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69961307 -0.81261301 -0.17209291] yaw=-72.6deg [env.py: 1019] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59154295 -0.8638964 -0.17209291] yaw=-43.2deg [env.py: 1019] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:14:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.5ms, total=240.6ms [env.py: 1075] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.700, -0.813, -0.172) [env.py: 1079] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/13 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:14:16 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/13 20:14:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 20:14:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.663s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.664[m] 88.130[deg] [grasp_sample.py: 539] +05/13 20:14:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:14:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:14:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.201s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:20 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.600s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:20 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.038[m] 1.171[deg] [grasp_sample.py: 539] +05/13 20:14:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:20 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:14:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:21 INFO: [Worker 0] Feasibility-checked 243 grasps in 10.460s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:21 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.620[m] 86.331[deg] [grasp_sample.py: 539] +05/13 20:14:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:14:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:14:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:14:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:14:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:14:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:14:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164922m [env.py: 870] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:14:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12160787 -1.30918343 -0.16492178] yaw=-6.2deg [env.py: 1019] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:14:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=284.3ms, total=284.4ms [env.py: 1075] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.122, -1.309, -0.165) [env.py: 1079] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.2 deg [env.py: 1082] +05/13 20:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:14:22 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/13 20:14:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/13 20:14:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 230 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:14:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:14:35 INFO: [Worker 0] Feasibility-checked 230 grasps in 12.839s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:35 INFO: [Worker 0] Feasible grasp found 198 (originally 198): w/ 0.696[m] 88.835[deg] [grasp_sample.py: 539] +05/13 20:14:36 INFO: [Worker 0] Object is not in grasp! 0.00175 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:14:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:14:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 100 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:36 INFO: [Worker 0] Feasibility-checked 100 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.039[m] 0.735[deg] [grasp_sample.py: 539] +05/13 20:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:14:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:14:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:14:41 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:14:41 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=False episode_total=4.40s: + episode_total: mean=20.22s, total=181.99s, count=9, min=232.4ms, max=146583.5ms + sensor_polling: mean=427.4ms, total=126.09s, count=295, min=370.4ms, max=875.3ms + physics_step: mean=26.0ms, total=7.66s, count=295, min=21.0ms, max=40.7ms + task_specific_sample: mean=510.4ms, total=4.59s, count=9, min=227.7ms, max=717.2ms + task_sampling: mean=549.7ms, total=4.40s, count=8, min=350.3ms, max=723.3ms + task_sampling_failed: mean=232.4ms, total=232.4ms, count=1, min=232.4ms, max=232.4ms + scene_randomize: mean=1.9ms, total=16.9ms, count=9, min=1.2ms, max=2.9ms + mj_forward_sync: mean=479.2us, total=4.3ms, count=9, min=0.4ms, max=0.7ms + policy_setup: mean=20.0us, total=0.2ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:14:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:14:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:14:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:14:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:14:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:14:42 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: 256] +05/13 20:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134627m [env.py: 870] +05/13 20:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:14:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.78275769 -0.69010884 -0.13462745] yaw=-104.8deg [env.py: 1019] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:14:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.4ms, total=351.4ms [env.py: 1075] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.783, -0.690, -0.135) [env.py: 1079] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.8 deg [env.py: 1082] +05/13 20:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/13 20:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:14:43 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/13 20:14:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/13 20:14:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 251 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:46 INFO: [Worker 0] Feasibility-checked 251 grasps in 2.579s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:14:46 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:14:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128891m [env.py: 870] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51192445 -1.02737184 -0.12889087] yaw=-75.7deg [env.py: 1019] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=234.7ms, total=234.7ms [env.py: 1075] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.027, -0.129) [env.py: 1079] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/13 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:14:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:14:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:14:48 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/13 20:14:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/13 20:14:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:51 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.637s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.645[m] 96.422[deg] [grasp_sample.py: 539] +05/13 20:14:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:14:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:14:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:14:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:14:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:14:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.198s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 20:14:57 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.798s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:14:57 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.038[m] 2.597[deg] [grasp_sample.py: 539] +05/13 20:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:14:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:14:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:15:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:17 INFO: [Worker 0] Object is not in grasp! 0.00127 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:15:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:15:18 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:15:18 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=False episode_total=2.52s: + episode_total: mean=30.73s, total=153.67s, count=5, min=323.2ms, max=140712.0ms + sensor_polling: mean=400.6ms, total=118.97s, count=297, min=359.1ms, max=777.3ms + physics_step: mean=24.8ms, total=7.37s, count=297, min=16.4ms, max=91.8ms + task_specific_sample: mean=564.6ms, total=2.82s, count=5, min=316.4ms, max=750.1ms + task_sampling: mean=630.5ms, total=2.52s, count=4, min=482.5ms, max=754.9ms + task_sampling_failed: mean=323.1ms, total=323.1ms, count=1, min=323.1ms, max=323.1ms + scene_randomize: mean=1.7ms, total=8.6ms, count=5, min=1.2ms, max=2.3ms + mj_forward_sync: mean=492.3us, total=2.5ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=15.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:15:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:15:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:15:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:15:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:15:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163181m [env.py: 870] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:15:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56398293 -0.89398677 -0.16318107] yaw=-44.6deg [env.py: 1019] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24625379 -1.0765676 -0.16318107] yaw=-27.2deg [env.py: 1019] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=263.2ms, total=263.3ms [env.py: 1075] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.894, -0.163) [env.py: 1079] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/13 20:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:15:21 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/13 20:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/13 20:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.195s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.652[m] 89.032[deg] [grasp_sample.py: 539] +05/13 20:15:24 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:15:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:15:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:15:27 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: 256] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146767m [env.py: 870] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0243223 -1.23140626 -0.14676706] yaw=-37.4deg [env.py: 1019] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36958164 -1.16131487 -0.14676706] yaw=-65.3deg [env.py: 1019] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33449886 -1.20837963 -0.14676706] yaw=-65.9deg [env.py: 1019] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:15:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.3ms, total=194.3ms [env.py: 1075] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.024, -1.231, -0.147) [env.py: 1079] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.4 deg [env.py: 1082] +05/13 20:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:15:27 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/13 20:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/13 20:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:15:31 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.856s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:15:31 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:15:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:15:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:15:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:15:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117090m [env.py: 870] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38361822 -1.03131556 -0.11709039] yaw=-32.1deg [env.py: 1019] +05/13 20:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.87373534 -0.85953661 -0.11709039] yaw=-93.0deg [env.py: 1019] +05/13 20:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.6ms, total=258.7ms [env.py: 1075] +05/13 20:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.031, -0.117) [env.py: 1079] +05/13 20:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.1 deg [env.py: 1082] +05/13 20:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/13 20:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:15:34 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/13 20:15:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/13 20:15:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 238 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:36 INFO: [Worker 0] Object is not in grasp! 0.00159 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:15:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.203s, found 71 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:37 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.854s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.682[m] 78.629[deg] [grasp_sample.py: 539] +05/13 20:15:37 INFO: [Worker 0] Feasibility-checked 71 grasps in 0.643s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:37 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.056[m] 2.877[deg] [grasp_sample.py: 539] +05/13 20:15:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:15:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:15:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:38 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:15:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:15:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:15:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173948m [env.py: 870] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48559156 -0.92790834 -0.17394814] yaw=-37.4deg [env.py: 1019] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.0ms, total=233.1ms [env.py: 1075] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.928, -0.174) [env.py: 1079] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.4 deg [env.py: 1082] +05/13 20:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:15:41 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/13 20:15:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/13 20:15:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:15:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.383s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:46 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.675[m] 88.799[deg] [grasp_sample.py: 539] +05/13 20:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:47 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:15:49 INFO: [Worker 0] Object is not in grasp! 0.00148 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:15:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:15:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:15:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 128 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:15:49 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: 256] +05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121082m [env.py: 870] +05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19762208 -1.32168661 -0.12108172] yaw=-35.2deg [env.py: 1019] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:15:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=310.3ms, total=310.4ms [env.py: 1075] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.322, -0.121) [env.py: 1079] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/13 20:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/13 20:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:15:50 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/13 20:15:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/13 20:15:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:52 INFO: [Worker 0] Feasibility-checked 128 grasps in 2.931s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:52 INFO: [Worker 0] Feasible grasp found 117 (originally 117): w/ 0.029[m] 12.002[deg] [grasp_sample.py: 539] +05/13 20:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:15:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:15:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 241 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:15:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:54 INFO: [Worker 0] Feasibility-checked 241 grasps in 0.871s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.138[m] 18.660[deg] [grasp_sample.py: 539] +05/13 20:15:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:15:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:15:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.543s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:56 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.677[m] 82.142[deg] [grasp_sample.py: 539] +05/13 20:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:57 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:15:58 INFO: [Worker 0] Object is not in grasp! 0.00119 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:15:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:15:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:15:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:15:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 132 non-colliding grasps [grasp_sample.py: 465] +05/13 20:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:15:59 INFO: [Worker 0] Feasibility-checked 132 grasps in 0.602s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:15:59 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.033[m] 2.619[deg] [grasp_sample.py: 539] +05/13 20:15:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:15:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:15:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:15:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:15:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:15:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:15:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:15:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118330m [env.py: 870] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:15:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:15:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:15:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66303193 -0.96835543 -0.11833045] yaw=-43.9deg [env.py: 1019] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38727688 -1.08728774 -0.11833045] yaw=-49.0deg [env.py: 1019] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=344.2ms, total=344.2ms [env.py: 1075] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.663, -0.968, -0.118) [env.py: 1079] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg [env.py: 1082] +05/13 20:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:16:00 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/13 20:16:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.159s [base_object_manipulation_planner_policy.py: 377] +05/13 20:16:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.334s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.665[m] 88.744[deg] [grasp_sample.py: 539] +05/13 20:16:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:16:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:16:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:16:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:16:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 216 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:09 INFO: [Worker 0] Feasibility-checked 216 grasps in 2.663s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:09 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.062[m] 5.951[deg] [grasp_sample.py: 539] +05/13 20:16:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:16:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:16:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:16:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:16:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 241 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:11 INFO: [Worker 0] Feasibility-checked 241 grasps in 0.851s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:11 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.133[m] 17.743[deg] [grasp_sample.py: 539] +05/13 20:16:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:16:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:16:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:16:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:19 INFO: [Worker 0] Object is not in grasp! 0.00141 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:16:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.203s, found 75 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:20 INFO: [Worker 0] Feasibility-checked 75 grasps in 0.617s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:20 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.052[m] 2.408[deg] [grasp_sample.py: 539] +05/13 20:16:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:16:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:16:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:27 INFO: [Worker 0] Object is not in grasp! 0.00032 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:16:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:16:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 128 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:16:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:16:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 241 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:29 INFO: [Worker 0] Feasibility-checked 241 grasps in 0.873s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.133[m] 17.744[deg] [grasp_sample.py: 539] +05/13 20:16:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:16:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:30 INFO: [Worker 0] Feasibility-checked 128 grasps in 2.787s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:30 INFO: [Worker 0] Feasible grasp found 12 (originally 12): w/ 0.035[m] 3.722[deg] [grasp_sample.py: 539] +05/13 20:16:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:16:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:16:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:16:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:16:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:42 INFO: [Worker 0] Object is not in grasp! 0.00151 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:16:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:16:42 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:16:42 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.51s: + episode_total: mean=152.39s, total=152.39s, count=1, min=152391.3ms, max=152391.3ms + sensor_polling: mean=439.6ms, total=127.93s, count=291, min=383.5ms, max=840.1ms + physics_step: mean=27.9ms, total=8.11s, count=291, min=17.0ms, max=79.3ms + task_sampling: mean=514.9ms, total=514.9ms, count=1, min=514.9ms, max=514.9ms + task_specific_sample: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.0us, 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] +05/13 20:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:16:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:16:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:16:43 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:16:43 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=False episode_total=1.13s: + episode_total: mean=59.49s, total=118.98s, count=2, min=3424.9ms, max=115556.9ms + sensor_polling: mean=431.1ms, total=62.51s, count=145, min=364.5ms, max=844.5ms + physics_step: mean=24.6ms, total=3.56s, count=145, min=14.6ms, max=30.5ms + task_sampling: mean=567.2ms, total=1.13s, count=2, min=495.3ms, max=639.0ms + task_specific_sample: mean=563.4ms, total=1.13s, count=2, min=490.5ms, max=636.3ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.4ms, max=1.4ms + mj_forward_sync: mean=533.5us, total=1.1ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=18.8us, 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] +05/13 20:16:44 INFO: [Worker 0] Feasibility-checked 244 grasps in 11.102s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:16:44 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.509[m] 64.479[deg] [grasp_sample.py: 539] +05/13 20:16:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:16:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:16:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:16:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:16:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:16:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173701m [env.py: 870] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:16:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86795095 -0.73341984 -0.17370093] yaw=-79.2deg [env.py: 1019] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=286.3ms, total=286.4ms [env.py: 1075] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.868, -0.733, -0.174) [env.py: 1079] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.2 deg [env.py: 1082] +05/13 20:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:16:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:16:45 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/13 20:16:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/13 20:16:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.190s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:45 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:16:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:16:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:16:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:16:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:16:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:16:45 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: 256] +05/13 20:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130084m [env.py: 870] +05/13 20:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:16:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.82474285 -0.74675872 -0.13008405] yaw=-109.5deg [env.py: 1019] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.7ms [env.py: 1075] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.825, -0.747, -0.130) [env.py: 1079] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.5 deg [env.py: 1082] +05/13 20:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/13 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:16:46 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/13 20:16:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 20:16:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:47 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:16:47 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:16:47 INFO: [Worker 0] Worker 0 completed house 1: 4/17 successful episodes [pipeline.py: 1323] +05/13 20:16:47 INFO: [Worker 0] [PROFILE] House 1 complete: 4/17 successful, 17 episodes, total_time=5010.41s + House averages: + episode_total: mean=40.45s, total=2912.40s, count=72, min=220.9ms, max=186645.7ms + sensor_polling: mean=404.5ms, total=1827.48s, count=4518, min=343.9ms, max=947.0ms + physics_step: mean=25.5ms, total=115.33s, count=4518, min=14.3ms, max=96.0ms + task_sampling: mean=662.6ms, total=43.73s, count=66, min=377.2ms, max=3910.2ms + save_trajectories: mean=10.61s, total=42.45s, count=4, min=10002.0ms, max=11805.5ms + task_specific_sample: mean=581.8ms, total=41.89s, count=72, min=217.3ms, max=1119.6ms + save_batch_prep: mean=4.32s, total=17.28s, count=4, min=3679.2ms, max=4849.4ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3363.0ms, max=3363.0ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.4ms, max=2109.4ms + task_sampling_failed: mean=301.2ms, total=1.81s, count=6, min=220.9ms, max=382.5ms + scene_compile: mean=1.05s, total=1.05s, count=1, min=1054.0ms, max=1054.0ms + compile_mujoco: mean=704.7ms, total=704.7ms, count=1, min=704.7ms, max=704.7ms + compile_xml_load: mean=265.2ms, total=265.2ms, count=1, min=265.2ms, max=265.2ms + scene_init: mean=133.0ms, total=133.0ms, count=1, min=133.0ms, max=133.0ms + scene_randomize: mean=1.7ms, total=118.9ms, count=72, min=1.0ms, max=3.3ms + scene_asset_install: mean=65.9ms, total=65.9ms, count=1, min=65.9ms, max=65.9ms + compile_aux_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms + compile_aux_policy_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms + asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms + mj_forward_sync: mean=478.5us, total=34.5ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + policy_setup: mean=18.1us, total=1.2ms, count=66, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/13 20:16:47 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/13 20:16:47 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=5010.41s + Worker averages: + episode_total: mean=40.45s, total=2912.40s, count=72, min=220.9ms, max=186645.7ms + sensor_polling: mean=404.5ms, total=1827.48s, count=4518, min=343.9ms, max=947.0ms + physics_step: mean=25.5ms, total=115.33s, count=4518, min=14.3ms, max=96.0ms + task_sampling: mean=662.6ms, total=43.73s, count=66, min=377.2ms, max=3910.2ms + save_trajectories: mean=10.61s, total=42.45s, count=4, min=10002.0ms, max=11805.5ms + task_specific_sample: mean=581.8ms, total=41.89s, count=72, min=217.3ms, max=1119.6ms + save_batch_prep: mean=4.32s, total=17.28s, count=4, min=3679.2ms, max=4849.4ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3363.0ms, max=3363.0ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.4ms, max=2109.4ms + task_sampling_failed: mean=301.2ms, total=1.81s, count=6, min=220.9ms, max=382.5ms + scene_compile: mean=1.05s, total=1.05s, count=1, min=1054.0ms, max=1054.0ms + compile_mujoco: mean=704.7ms, total=704.7ms, count=1, min=704.7ms, max=704.7ms + compile_xml_load: mean=265.2ms, total=265.2ms, count=1, min=265.2ms, max=265.2ms + scene_init: mean=133.0ms, total=133.0ms, count=1, min=133.0ms, max=133.0ms + scene_randomize: mean=1.7ms, total=118.9ms, count=72, min=1.0ms, max=3.3ms + scene_asset_install: mean=65.9ms, total=65.9ms, count=1, min=65.9ms, max=65.9ms + compile_aux_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms + compile_aux_policy_objects: mean=58.3ms, total=58.3ms, count=1, min=58.3ms, max=58.3ms + asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms + mj_forward_sync: mean=478.5us, total=34.5ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + policy_setup: mean=18.1us, total=1.2ms, count=66, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/13 20:16:49 INFO: [Worker 0] Object is not in grasp! 0.00139 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:16:49 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:16:49 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:16:49 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=1.05s: + episode_total: mean=75.84s, total=151.68s, count=2, min=4635.6ms, max=147042.3ms + sensor_polling: mean=386.3ms, total=114.35s, count=296, min=346.1ms, max=692.5ms + physics_step: mean=24.9ms, total=7.37s, count=296, min=17.2ms, max=92.6ms + task_sampling: mean=522.9ms, total=1.05s, count=2, min=502.3ms, max=543.5ms + task_specific_sample: mean=519.2ms, total=1.04s, count=2, min=499.5ms, max=539.0ms + scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=1.2ms, max=1.3ms + mj_forward_sync: mean=434.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:16:50 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/13 20:16:50 INFO: Success count: 4, Total count: 17 [pipeline.py: 1491] +05/13 20:16:50 INFO: Success rate: 23.53% [pipeline.py: 1492] +05/13 20:16:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:16:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:16:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:16:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:16:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:16:51 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: 256] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130421m [env.py: 870] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:16:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=249.8ms, total=249.9ms [env.py: 1105] +05/13 20:16:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:16:51 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:16:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:16:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:16:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:16:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:16:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:16:52 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: 256] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147457m [env.py: 870] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:16:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.7ms, total=232.8ms [env.py: 1105] +05/13 20:16:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:16:52 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:16:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:16:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:16:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:16:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:16:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:16:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132541m [env.py: 870] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:16:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69420009 -0.71495804 -0.13254097] yaw=-101.8deg [env.py: 1019] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:16:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.7ms, total=232.8ms [env.py: 1075] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.694, -0.715, -0.133) [env.py: 1079] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.8 deg [env.py: 1082] +05/13 20:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:16:54 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/13 20:16:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/13 20:16:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:16:57 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.754s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:16:57 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:16:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:16:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:16:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:16:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:16:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:16:59 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: 256] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134144m [env.py: 870] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:16:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86283431 -0.86004889 -0.13414366] yaw=-96.1deg [env.py: 1019] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:16:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.5ms, total=231.6ms [env.py: 1075] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.863, -0.860, -0.134) [env.py: 1079] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.1 deg [env.py: 1082] +05/13 20:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:16:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:16:59 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/13 20:16:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 20:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:16:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:16:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:17:01 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.033s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:17:01 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.644[m] 95.745[deg] [grasp_sample.py: 539] +05/13 20:17:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:17:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:17:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:17:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 17.597s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:17:02 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.742[m] 94.828[deg] [grasp_sample.py: 539] +05/13 20:17:04 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:17:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:17:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:17:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:17:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152036m [env.py: 870] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59894476 -0.98129148 -0.15203563] yaw=-82.4deg [env.py: 1019] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.8ms, total=227.8ms [env.py: 1075] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.981, -0.152) [env.py: 1079] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.4 deg [env.py: 1082] +05/13 20:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:17:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:17:06 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/13 20:17:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/13 20:17:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:17:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:17:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:17:08 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.542s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:17:08 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.636[m] 95.566[deg] [grasp_sample.py: 539] +05/13 20:17:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:17:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:17:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:19 INFO: [Worker 0] Feasibility-checked 248 grasps in 33.328s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:17:19 INFO: [Worker 0] Feasible grasp found 468 (originally 161): w/ 0.781[m] 92.182[deg] [grasp_sample.py: 539] +05/13 20:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:21 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:17:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:17:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:17:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:17:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:17:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:17:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:17:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:17:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136409m [env.py: 870] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:17:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=281.3ms, total=281.4ms [env.py: 1105] +05/13 20:17:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:17:23 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:17:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:17:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:17:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:17:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:17:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:17:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:17:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:17:24 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: 256] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150566m [env.py: 870] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:17:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.77821189 -0.7604035 -0.15056591] yaw=-94.0deg [env.py: 1019] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.7ms, total=247.8ms [env.py: 1075] +05/13 20:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.778, -0.760, -0.151) [env.py: 1079] +05/13 20:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.0 deg [env.py: 1082] +05/13 20:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/13 20:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:17:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:17:25 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/13 20:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/13 20:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:17:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:17:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:17:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:17:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:17:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:17:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:17:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.187s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:17:31 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.511[m] 70.656[deg] [grasp_sample.py: 539] +05/13 20:17:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:17:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:17:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:17:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:17:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:17:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:17:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:17:46 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.391s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:17:46 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.507[m] 70.089[deg] [grasp_sample.py: 539] +05/13 20:17:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:17:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:17:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:17:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:17:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:17:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:17:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:17:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 248 non-colliding grasps [grasp_sample.py: 465] +05/13 20:18:00 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.222s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:00 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.507[m] 70.091[deg] [grasp_sample.py: 539] +05/13 20:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:18:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:18:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 42.363s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:07 INFO: [Worker 0] Feasible grasp found 327 (originally 20): w/ 0.758[m] 108.355[deg] [grasp_sample.py: 539] +05/13 20:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:09 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:18:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:18:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:18:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:18:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:18:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:18:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143647m [env.py: 870] +05/13 20:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:18:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=359.9ms, total=359.9ms [env.py: 1105] +05/13 20:18:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:18:11 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:18:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:18:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:18:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:18:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170808m [env.py: 870] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:13 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:18:13 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=False episode_total=1.01s: + episode_total: mean=19.65s, total=78.58s, count=4, min=243.8ms, max=74558.2ms + sensor_polling: mean=406.1ms, total=28.83s, count=71, min=356.1ms, max=786.8ms + physics_step: mean=22.3ms, total=1.59s, count=71, min=14.4ms, max=55.6ms + task_specific_sample: mean=374.3ms, total=1.50s, count=4, min=238.4ms, max=516.1ms + task_sampling: mean=503.8ms, total=1.01s, count=2, min=489.1ms, max=518.4ms + task_sampling_failed: mean=252.8ms, total=505.5ms, count=2, min=243.7ms, max=261.8ms + scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=1.0ms, max=2.0ms + mj_forward_sync: mean=434.1us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, 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] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54595458 -0.78468699 -0.1708081 ] yaw=-69.7deg [env.py: 1019] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=307.6ms, total=307.6ms [env.py: 1075] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.785, -0.171) [env.py: 1079] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/13 20:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:18:14 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/13 20:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/13 20:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:18:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:18:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:18:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:18:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:18:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:18:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:18:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:18:15 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: 256] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146300m [env.py: 870] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:18:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15313581 -1.36252198 -0.14629997] yaw=-41.4deg [env.py: 1019] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1075] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.153, -1.363, -0.146) [env.py: 1079] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/13 20:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:18:15 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/13 20:18:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/13 20:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:18:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:18:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:18:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:18:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.206s, found 101 non-colliding grasps [grasp_sample.py: 465] +05/13 20:18:17 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.799s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:17 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.025[m] 1.200[deg] [grasp_sample.py: 539] +05/13 20:18:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:18:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:18:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.180s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:18 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.752[m] 83.319[deg] [grasp_sample.py: 539] +05/13 20:18:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:18:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:18:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.066s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:19 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.703[m] 85.091[deg] [grasp_sample.py: 539] +05/13 20:18:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:18:20 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:18:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:18:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:18:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:18:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:18:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:18:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:18:21 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: 256] +05/13 20:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191283m [env.py: 870] +05/13 20:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:18:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.86874534 -0.82002648 -0.19128255] yaw=-67.8deg [env.py: 1019] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07972876 -1.25952203 -0.19128255] yaw=-52.8deg [env.py: 1019] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:18:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=741.2ms, total=741.3ms [env.py: 1075] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.869, -0.820, -0.191) [env.py: 1079] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg [env.py: 1082] +05/13 20:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/13 20:18:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:18:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:18:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:18:23 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/13 20:18:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/13 20:18:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:18:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:18:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:18:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.522s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:24 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.647[m] 91.848[deg] [grasp_sample.py: 539] +05/13 20:18:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:18:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:18:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:18:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:18:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:39 INFO: [Worker 0] Object is not in grasp! 0.00112 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:18:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:18:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:18:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/13 20:18:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.646s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:18:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.037[m] 2.321[deg] [grasp_sample.py: 539] +05/13 20:18:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:18:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:18:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:18:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:18:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:01 INFO: [Worker 0] Object is not in grasp! 0.00097 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:19:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:19:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:19:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:19:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 101 non-colliding grasps [grasp_sample.py: 465] +05/13 20:19:02 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.675s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:19:02 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.032[m] 0.484[deg] [grasp_sample.py: 539] +05/13 20:19:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:19:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:19:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:19:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:19:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:19:21 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:19:21 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=1.11s: + episode_total: mean=77.30s, total=154.60s, count=2, min=19762.5ms, max=134839.3ms + sensor_polling: mean=413.8ms, total=118.75s, count=287, min=376.9ms, max=816.6ms + physics_step: mean=24.3ms, total=6.97s, count=287, min=16.5ms, max=57.3ms + task_sampling: mean=554.4ms, total=1.11s, count=2, min=475.6ms, max=633.1ms + task_specific_sample: mean=550.2ms, total=1.10s, count=2, min=472.1ms, max=628.3ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.2ms, max=1.6ms + mj_forward_sync: mean=436.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:19:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:19:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:19:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:19:23 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: 256] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121136m [env.py: 870] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33551797 -0.90862792 -0.12113592] yaw=-53.6deg [env.py: 1019] +05/13 20:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.7ms, total=242.7ms [env.py: 1075] +05/13 20:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -0.909, -0.121) [env.py: 1079] +05/13 20:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/13 20:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/13 20:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:19:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:19:24 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/13 20:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 20:19:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:19:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:19:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:19:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.368s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:19:28 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.707[m] 91.833[deg] [grasp_sample.py: 539] +05/13 20:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:30 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:19:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:19:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:19:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:19:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:19:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:19:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140842m [env.py: 870] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:19:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=256.5ms, total=256.6ms [env.py: 1105] +05/13 20:19:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:19:32 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:19:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:19:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:19:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:19:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:19:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:19:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:19:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157823m [env.py: 870] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:19:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.80253545 -0.83814397 -0.15782334] yaw=-65.2deg [env.py: 1019] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4530054 -1.01670088 -0.15782334] yaw=-29.2deg [env.py: 1019] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29068838 -0.93629912 -0.15782334] yaw=-69.5deg [env.py: 1019] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:19:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.0ms, total=170.1ms [env.py: 1075] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.803, -0.838, -0.158) [env.py: 1079] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/13 20:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:19:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:19:35 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/13 20:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/13 20:19:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:19:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:19:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:19:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.415s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:19:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.687[m] 96.483[deg] [grasp_sample.py: 539] +05/13 20:19:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:19:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:19:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:19:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:19:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:19:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 128 non-colliding grasps [grasp_sample.py: 465] +05/13 20:19:41 INFO: [Worker 0] Object is not in grasp! 0.00141 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:19:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:19:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:19:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:19:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 96 non-colliding grasps [grasp_sample.py: 465] +05/13 20:19:44 INFO: [Worker 0] Feasibility-checked 96 grasps in 2.754s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:19:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.028[m] 0.687[deg] [grasp_sample.py: 539] +05/13 20:19:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:19:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:19:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:19:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:20:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:05 INFO: [Worker 0] Object is not in grasp! 0.00164 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:20:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:20:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:20:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.199s, found 73 non-colliding grasps [grasp_sample.py: 465] +05/13 20:20:08 INFO: [Worker 0] Feasibility-checked 73 grasps in 2.651s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:20:08 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.058[m] 3.332[deg] [grasp_sample.py: 539] +05/13 20:20:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:20:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:20:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:14 INFO: [Worker 0] Feasibility-checked 128 grasps in 35.719s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:20:14 INFO: [Worker 0] Feasible grasp found 113 (originally 113): w/ 0.017[m] 46.667[deg] [grasp_sample.py: 539] +05/13 20:20:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:20:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:20:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:20:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:20:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:32 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:20:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:20:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:20:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 158 non-colliding grasps [grasp_sample.py: 465] +05/13 20:20:35 INFO: [Worker 0] Feasibility-checked 158 grasps in 2.943s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:20:35 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.037[m] 0.688[deg] [grasp_sample.py: 539] +05/13 20:20:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:20:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:20:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:36 INFO: [Worker 0] Object is not in grasp! 0.00105 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:20:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:20:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:20:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:20:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 96 non-colliding grasps [grasp_sample.py: 465] +05/13 20:20:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:40 INFO: [Worker 0] Feasibility-checked 96 grasps in 3.851s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:20:40 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.036[m] 1.244[deg] [grasp_sample.py: 539] +05/13 20:20:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:20:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:20:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:46 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:20:46 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=False episode_total=1.72s: + episode_total: mean=46.72s, total=233.62s, count=5, min=292.8ms, max=153300.3ms + sensor_polling: mean=425.5ms, total=127.65s, count=300, min=364.3ms, max=814.5ms + physics_step: mean=26.0ms, total=7.80s, count=300, min=16.3ms, max=37.9ms + task_specific_sample: mean=473.0ms, total=2.36s, count=5, min=287.4ms, max=603.6ms + task_sampling: mean=573.0ms, total=1.72s, count=3, min=508.7ms, max=606.6ms + task_sampling_failed: mean=333.1ms, total=666.3ms, count=2, min=292.8ms, max=373.5ms + scene_randomize: mean=1.8ms, total=8.8ms, count=5, min=1.4ms, max=2.0ms + mj_forward_sync: mean=432.6us, total=2.2ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=24.2us, total=0.1ms, count=3, 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] +05/13 20:20:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:20:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:20:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:20:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:20:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:20:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:20:48 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: 256] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135359m [env.py: 870] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:20:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23237484 -1.27727036 -0.13535863] yaw=-28.8deg [env.py: 1019] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=344.8ms, total=344.8ms [env.py: 1075] +05/13 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.277, -0.135) [env.py: 1079] +05/13 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.8 deg [env.py: 1082] +05/13 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/13 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:20:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:20:49 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/13 20:20:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/13 20:20:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:20:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:20:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:20:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:20:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.934s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:20:50 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.629[m] 90.061[deg] [grasp_sample.py: 539] +05/13 20:20:51 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:20:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:20:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:54 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:20:54 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:20:54 INFO: [Worker 0] Worker 0 completed house 1: 5/18 successful episodes [pipeline.py: 1323] +05/13 20:20:54 INFO: [Worker 0] [PROFILE] House 1 complete: 5/18 successful, 18 episodes, total_time=5591.29s + House averages: + episode_total: mean=43.98s, total=3166.62s, count=72, min=227.2ms, max=193666.0ms + sensor_polling: mean=429.3ms, total=2133.36s, count=4969, min=364.0ms, max=981.5ms + physics_step: mean=25.7ms, total=127.74s, count=4969, min=14.2ms, max=116.2ms + save_trajectories: mean=10.10s, total=50.51s, count=5, min=9774.0ms, max=10881.0ms + task_sampling: mean=625.2ms, total=40.01s, count=64, min=350.3ms, max=4587.3ms + task_specific_sample: mean=527.9ms, total=38.01s, count=72, min=220.8ms, max=1026.8ms + save_batch_prep: mean=4.56s, total=22.78s, count=5, min=3972.4ms, max=6050.4ms + scene_load: mean=4.00s, total=4.00s, count=1, min=3997.5ms, max=3997.5ms + task_sampling_failed: mean=284.4ms, total=2.28s, count=8, min=227.2ms, max=373.5ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2094.3ms, max=2094.3ms + scene_compile: mean=1.70s, total=1.70s, count=1, min=1698.6ms, max=1698.6ms + compile_xml_load: mean=892.7ms, total=892.7ms, count=1, min=892.7ms, max=892.7ms + compile_mujoco: mean=668.8ms, total=668.8ms, count=1, min=668.8ms, max=668.8ms + scene_init: mean=140.0ms, total=140.0ms, count=1, min=140.0ms, max=140.0ms + scene_randomize: mean=1.8ms, total=127.3ms, count=72, min=1.0ms, max=3.8ms + compile_aux_objects: mean=77.7ms, total=77.7ms, count=1, min=77.7ms, max=77.7ms + compile_aux_policy_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + scene_asset_install: mean=64.2ms, total=64.2ms, count=1, min=64.2ms, max=64.2ms + compile_robot_add: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + asset_install_grasps: mean=43.5ms, total=43.5ms, count=1, min=43.5ms, max=43.5ms + mj_forward_sync: mean=477.9us, total=34.4ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms + asset_install_scene: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms + policy_setup: mean=20.8us, total=1.3ms, count=64, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/13 20:20:54 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/13 20:20:54 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=5591.29s + Worker averages: + episode_total: mean=43.98s, total=3166.62s, count=72, min=227.2ms, max=193666.0ms + sensor_polling: mean=429.3ms, total=2133.36s, count=4969, min=364.0ms, max=981.5ms + physics_step: mean=25.7ms, total=127.74s, count=4969, min=14.2ms, max=116.2ms + save_trajectories: mean=10.10s, total=50.51s, count=5, min=9774.0ms, max=10881.0ms + task_sampling: mean=625.2ms, total=40.01s, count=64, min=350.3ms, max=4587.3ms + task_specific_sample: mean=527.9ms, total=38.01s, count=72, min=220.8ms, max=1026.8ms + save_batch_prep: mean=4.56s, total=22.78s, count=5, min=3972.4ms, max=6050.4ms + scene_load: mean=4.00s, total=4.00s, count=1, min=3997.5ms, max=3997.5ms + task_sampling_failed: mean=284.4ms, total=2.28s, count=8, min=227.2ms, max=373.5ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2094.3ms, max=2094.3ms + scene_compile: mean=1.70s, total=1.70s, count=1, min=1698.6ms, max=1698.6ms + compile_xml_load: mean=892.7ms, total=892.7ms, count=1, min=892.7ms, max=892.7ms + compile_mujoco: mean=668.8ms, total=668.8ms, count=1, min=668.8ms, max=668.8ms + scene_init: mean=140.0ms, total=140.0ms, count=1, min=140.0ms, max=140.0ms + scene_randomize: mean=1.8ms, total=127.3ms, count=72, min=1.0ms, max=3.8ms + compile_aux_objects: mean=77.7ms, total=77.7ms, count=1, min=77.7ms, max=77.7ms + compile_aux_policy_objects: mean=77.6ms, total=77.6ms, count=1, min=77.6ms, max=77.6ms + scene_asset_install: mean=64.2ms, total=64.2ms, count=1, min=64.2ms, max=64.2ms + compile_robot_add: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + asset_install_grasps: mean=43.5ms, total=43.5ms, count=1, min=43.5ms, max=43.5ms + mj_forward_sync: mean=477.9us, total=34.4ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms + asset_install_scene: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms + policy_setup: mean=20.8us, total=1.3ms, count=64, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/13 20:20:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:20:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:20:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:20:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:20:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:20:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 20:20:58 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/13 20:20:58 INFO: Success count: 5, Total count: 18 [pipeline.py: 1491] +05/13 20:20:58 INFO: Success rate: 27.78% [pipeline.py: 1492] +05/13 20:20:58 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.736s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:20:58 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.030[m] 3.093[deg] [grasp_sample.py: 539] +05/13 20:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:20:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:20:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:21:00 INFO: [Worker 0] Object is not in grasp! 0.00160 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:21:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 117 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:21:02 INFO: [Worker 0] Feasibility-checked 117 grasps in 1.968s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:21:02 INFO: [Worker 0] Feasible grasp found 113 (originally 113): w/ 0.032[m] 1.832[deg] [grasp_sample.py: 539] +05/13 20:21:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:21:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:21:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:21:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:21:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:21:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:21:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:21:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:21:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 117 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:21:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:21:21 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:21:21 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:21:21 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=1.59s: + episode_total: mean=92.35s, total=184.70s, count=2, min=5043.0ms, max=179654.7ms + sensor_polling: mean=389.4ms, total=112.55s, count=289, min=345.6ms, max=754.1ms + physics_step: mean=23.5ms, total=6.80s, count=289, min=16.5ms, max=35.4ms + task_sampling: mean=794.5ms, total=1.59s, count=2, min=483.4ms, max=1105.6ms + task_specific_sample: mean=790.5ms, total=1.58s, count=2, min=480.4ms, max=1100.6ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.5ms, max=1.9ms + mj_forward_sync: mean=441.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:21:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:21:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:21:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:21:23 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: 256] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123279m [env.py: 870] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09497745 -1.1397793 -0.12327922] yaw=-11.2deg [env.py: 1019] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms [env.py: 1075] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.095, -1.140, -0.123) [env.py: 1079] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.2 deg [env.py: 1082] +05/13 20:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:21:23 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/13 20:21:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/13 20:21:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 232 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:26 INFO: [Worker 0] Feasibility-checked 232 grasps in 2.754s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:21:26 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:21:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:21:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:21:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:21:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:21:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:21:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195217m [env.py: 870] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:21:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13997014 -1.20125957 -0.19521727] yaw=-49.3deg [env.py: 1019] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.82977421 -0.69287283 -0.19521727] yaw=-74.1deg [env.py: 1019] +05/13 20:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=212.0ms, total=212.1ms [env.py: 1075] +05/13 20:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.140, -1.201, -0.195) [env.py: 1079] +05/13 20:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/13 20:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/13 20:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:21:28 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/13 20:21:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/13 20:21:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.770s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:21:31 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.681[m] 84.040[deg] [grasp_sample.py: 539] +05/13 20:21:32 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:21:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:21:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:21:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:21:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:21:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:21:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:21:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105206m [env.py: 870] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:21:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25821535 -1.12835078 -0.10520599] yaw=-69.2deg [env.py: 1019] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57219436 -0.84840594 -0.10520599] yaw=-61.7deg [env.py: 1019] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.8ms, total=180.8ms [env.py: 1075] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.128, -0.105) [env.py: 1079] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg [env.py: 1082] +05/13 20:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/13 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:21:34 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/13 20:21:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/13 20:21:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.659s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:21:41 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.750[m] 91.723[deg] [grasp_sample.py: 539] +05/13 20:21:42 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:21:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:21:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:21:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:21:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:21:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:21:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173814m [env.py: 870] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:21:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68098888 -0.83680027 -0.17381405] yaw=-72.2deg [env.py: 1019] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2081952 -1.04172922 -0.17381405] yaw=-47.0deg [env.py: 1019] +05/13 20:21:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:21:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.8ms [env.py: 1075] +05/13 20:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.681, -0.837, -0.174) [env.py: 1079] +05/13 20:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/13 20:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/13 20:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:21:44 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/13 20:21:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 20:21:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:46 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.500s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:21:46 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.688[m] 96.756[deg] [grasp_sample.py: 539] +05/13 20:21:48 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:21:48 INFO: [Worker 0] Feasibility-checked 117 grasps in 34.237s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:21:48 INFO: [Worker 0] Feasible grasp found 113 (originally 113): w/ 0.016[m] 47.382[deg] [grasp_sample.py: 539] +05/13 20:21:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:21:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:21:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:21:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:21:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:21:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:21:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:21:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:21:49 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: 256] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178076m [env.py: 870] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:21:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58337083 -0.76019572 -0.17807607] yaw=-89.7deg [env.py: 1019] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:21:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.6ms, total=226.7ms [env.py: 1075] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.760, -0.178) [env.py: 1079] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.7 deg [env.py: 1082] +05/13 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:21:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:21:50 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/13 20:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 20:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:21:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:21:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:21:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:22:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:08 INFO: [Worker 0] Feasibility-checked 244 grasps in 18.728s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:22:08 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.807[m] 108.670[deg] [grasp_sample.py: 539] +05/13 20:22:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:22:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:22:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:11 INFO: [Worker 0] Object is not in grasp! 0.00143 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:22:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:22:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:22:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:22:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 93 non-colliding grasps [grasp_sample.py: 465] +05/13 20:22:11 INFO: [Worker 0] Feasibility-checked 93 grasps in 0.675s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:22:11 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.032[m] 0.556[deg] [grasp_sample.py: 539] +05/13 20:22:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:22:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:22:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:22:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:28 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:22:28 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=False episode_total=1.08s: + episode_total: mean=60.20s, total=180.61s, count=3, min=269.8ms, max=173991.2ms + sensor_polling: mean=412.1ms, total=123.62s, count=300, min=377.7ms, max=774.0ms + physics_step: mean=23.7ms, total=7.10s, count=300, min=16.2ms, max=57.3ms + task_specific_sample: mean=443.9ms, total=1.33s, count=3, min=262.6ms, max=575.7ms + task_sampling: mean=537.5ms, total=1.08s, count=2, min=496.2ms, max=578.9ms + task_sampling_failed: mean=269.8ms, total=269.8ms, count=1, min=269.8ms, max=269.8ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.7ms + mj_forward_sync: mean=429.5us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:22:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:22:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:22:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167031m [env.py: 870] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47260858 -0.95921967 -0.1670309 ] yaw=-43.0deg [env.py: 1019] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1124125 -1.14076255 -0.1670309 ] yaw=-54.8deg [env.py: 1019] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms [env.py: 1075] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -0.959, -0.167) [env.py: 1079] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/13 20:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:22:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:22:31 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/13 20:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/13 20:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:22:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:22:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:22:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.342s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:22:32 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.673[m] 89.380[deg] [grasp_sample.py: 539] +05/13 20:22:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:22:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:22:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:22:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:23:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:23:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:23:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:23:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:23:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:23:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 143 non-colliding grasps [grasp_sample.py: 465] +05/13 20:23:23 INFO: [Worker 0] Feasibility-checked 143 grasps in 2.704s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:23:23 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.010[m] 34.123[deg] [grasp_sample.py: 539] +05/13 20:23:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:23:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:23:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:23:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:23:43 INFO: [Worker 0] Object is not in grasp! 0.00152 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:23:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:23:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:23:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:23:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 154 non-colliding grasps [grasp_sample.py: 465] +05/13 20:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:23:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:50 INFO: [Worker 0] Feasibility-checked 154 grasps in 6.719s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:23:50 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.040[m] 48.352[deg] [grasp_sample.py: 539] +05/13 20:23:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:23:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:23:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:23:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:23:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:24:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:24:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:24:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.210s, found 50 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:24:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 52 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:05 INFO: [Worker 0] Feasibility-checked 50 grasps in 4.129s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:05 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.048[m] 3.929[deg] [grasp_sample.py: 539] +05/13 20:24:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:24:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:24:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:08 INFO: [Worker 0] Feasibility-checked 52 grasps in 2.726s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:08 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.064[m] 9.118[deg] [grasp_sample.py: 539] +05/13 20:24:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:24:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:24:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:21 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:24:21 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=2.27s: + episode_total: mean=34.49s, total=172.47s, count=5, min=3379.7ms, max=151476.2ms + sensor_polling: mean=363.7ms, total=109.11s, count=300, min=342.9ms, max=673.0ms + physics_step: mean=22.5ms, total=6.76s, count=300, min=16.4ms, max=35.4ms + task_sampling: mean=454.8ms, total=2.27s, count=5, min=412.9ms, max=523.4ms + task_specific_sample: mean=451.8ms, total=2.26s, count=5, min=410.2ms, max=519.2ms + scene_randomize: mean=1.2ms, total=6.1ms, count=5, min=1.1ms, max=1.4ms + mj_forward_sync: mean=427.4us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=20.2us, 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] +05/13 20:24:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:24:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:24:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:24:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:24:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:24:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:24:22 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: 256] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150313m [env.py: 870] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:24:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67662808 -0.97365978 -0.15031329] yaw=-81.1deg [env.py: 1019] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4202527 -1.07264005 -0.15031329] yaw=-56.5deg [env.py: 1019] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:24:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.5ms, total=238.6ms [env.py: 1075] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.677, -0.974, -0.150) [env.py: 1079] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg [env.py: 1082] +05/13 20:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:24:23 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/13 20:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/13 20:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.649s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:24 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.617[m] 93.501[deg] [grasp_sample.py: 539] +05/13 20:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:24:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:24:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:30 INFO: [Worker 0] Object is not in grasp! 0.00194 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:24:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:24:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 162 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:35 INFO: [Worker 0] Feasibility-checked 162 grasps in 4.340s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:35 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.071[m] 0.911[deg] [grasp_sample.py: 539] +05/13 20:24:36 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:24:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:24:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:24:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:24:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:24:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:24:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:24:38 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: 256] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190770m [env.py: 870] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:24:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36399448 -0.87339954 -0.19076997] yaw=-49.3deg [env.py: 1019] +05/13 20:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:24:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=414.6ms, total=414.6ms [env.py: 1075] +05/13 20:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.873, -0.191) [env.py: 1079] +05/13 20:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/13 20:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/13 20:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:24:39 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/13 20:24:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/13 20:24:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.656s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:45 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.737[m] 86.635[deg] [grasp_sample.py: 539] +05/13 20:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:46 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:24:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:24:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:24:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:24:49 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: 256] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176393m [env.py: 870] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5955977 -0.80883338 -0.17639296] yaw=-91.6deg [env.py: 1019] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06319691 -1.376541 -0.17639296] yaw=-20.4deg [env.py: 1019] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11988665 -1.13278044 -0.17639296] yaw=-24.4deg [env.py: 1019] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.7ms, total=259.7ms [env.py: 1075] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.809, -0.176) [env.py: 1079] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.6 deg [env.py: 1082] +05/13 20:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:24:49 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/13 20:24:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/13 20:24:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:52 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.367s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:52 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.730[m] 101.466[deg] [grasp_sample.py: 539] +05/13 20:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:53 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:24:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:24:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:24:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:24:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:24:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:24:55 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: 256] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172860m [env.py: 870] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:24:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59921172 -0.94237621 -0.17285986] yaw=-75.1deg [env.py: 1019] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17742036 -1.05248727 -0.17285986] yaw=-22.8deg [env.py: 1019] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2962588 -0.90511991 -0.17285986] yaw=-58.6deg [env.py: 1019] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.8ms, total=179.9ms [env.py: 1075] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.942, -0.173) [env.py: 1079] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg [env.py: 1082] +05/13 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:24:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:24:56 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/13 20:24:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/13 20:24:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:24:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:24:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:24:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:24:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:24:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:24:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.478s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.584[m] 90.430[deg] [grasp_sample.py: 539] +05/13 20:24:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:24:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:24:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:24:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.378s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:24:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.413[m] 58.147[deg] [grasp_sample.py: 539] +05/13 20:25:00 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:25:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188393m [env.py: 870] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01777226 -1.19883517 -0.18839335] yaw=-48.5deg [env.py: 1019] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.89965943 -0.68012897 -0.18839335] yaw=-87.8deg [env.py: 1019] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40272891 -1.12393419 -0.18839335] yaw=-46.9deg [env.py: 1019] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.7ms, total=230.8ms [env.py: 1075] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.018, -1.199, -0.188) [env.py: 1079] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/13 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:02 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.800s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:25:05 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:25:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:06 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: 256] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194420m [env.py: 870] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55643486 -0.75003061 -0.19441975] yaw=-59.6deg [env.py: 1019] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48288745 -0.9223531 -0.19441975] yaw=-62.8deg [env.py: 1019] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=649.4ms, total=649.4ms [env.py: 1075] +05/13 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.750, -0.194) [env.py: 1079] +05/13 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/13 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/13 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:07 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.611s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:25:13 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.730[m] 82.816[deg] [grasp_sample.py: 539] +05/13 20:25:14 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:25:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114686m [env.py: 870] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5938474 -0.72550293 -0.11468626] yaw=-68.0deg [env.py: 1019] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47463598 -0.96256053 -0.11468626] yaw=-43.9deg [env.py: 1019] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17353793 -1.18750488 -0.11468626] yaw=-40.7deg [env.py: 1019] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=169.2ms, total=169.3ms [env.py: 1075] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.726, -0.115) [env.py: 1079] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/13 20:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:16 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.769s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:25:19 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:25:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155173m [env.py: 870] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=235.1ms, total=235.2ms [env.py: 1105] +05/13 20:25:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:25:21 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:25:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178672m [env.py: 870] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27844977 -0.91376353 -0.1786716 ] yaw=-54.9deg [env.py: 1019] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32721646 -0.82440534 -0.1786716 ] yaw=-74.7deg [env.py: 1019] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.7ms, total=230.8ms [env.py: 1075] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -0.914, -0.179) [env.py: 1079] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/13 20:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:23 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.769s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:25:26 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:25:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:27 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: 256] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120619m [env.py: 870] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.189616 -1.04624229 -0.12061874] yaw=-26.7deg [env.py: 1019] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03783168 -1.35528858 -0.12061874] yaw=3.3deg [env.py: 1019] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82442745 -0.73971959 -0.12061874] yaw=-57.4deg [env.py: 1019] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.6ms, total=180.6ms [env.py: 1075] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.190, -1.046, -0.121) [env.py: 1079] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.7 deg [env.py: 1082] +05/13 20:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:28 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:30 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.703s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:25:30 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:25:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:32 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: 256] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172783m [env.py: 870] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.72074216 -0.75719303 -0.17278266] yaw=-56.6deg [env.py: 1019] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=334.8ms, total=334.9ms [env.py: 1075] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.721, -0.757, -0.173) [env.py: 1079] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/13 20:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:32 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.335s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:25:42 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.737[m] 79.588[deg] [grasp_sample.py: 539] +05/13 20:25:43 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:45 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: 256] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111659m [env.py: 870] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2136046 -1.10999309 -0.11165912] yaw=-26.7deg [env.py: 1019] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=309.7ms, total=309.8ms [env.py: 1075] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.110, -0.112) [env.py: 1079] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.7 deg [env.py: 1082] +05/13 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:45 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:25:49 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.993s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:25:49 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.702[m] 81.244[deg] [grasp_sample.py: 539] +05/13 20:25:51 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:25:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:52 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: 256] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181390m [env.py: 870] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.4ms, total=230.4ms [env.py: 1105] +05/13 20:25:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:25:52 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:25:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:54 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: 256] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123409m [env.py: 870] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31961167 -0.87271249 -0.12340896] yaw=-47.8deg [env.py: 1019] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.5ms [env.py: 1075] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -0.873, -0.123) [env.py: 1079] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/13 20:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:54 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:25:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.801s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:25:57 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:25:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:25:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:25:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:25:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:25:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:25:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:25:58 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: 256] +05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165995m [env.py: 870] +05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:25:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48893498 -0.99521085 -0.16599524] yaw=-60.0deg [env.py: 1019] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37968136 -0.98840565 -0.16599524] yaw=-41.9deg [env.py: 1019] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:25:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=427.3ms, total=427.3ms [env.py: 1075] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.995, -0.166) [env.py: 1079] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/13 20:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/13 20:25:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:25:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:25:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:25:59 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/13 20:25:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:25:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:25:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:25:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:26:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.681s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:26:02 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.621[m] 81.739[deg] [grasp_sample.py: 539] +05/13 20:26:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:26:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:26:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:26:07 INFO: [Worker 0] Object is not in grasp! 0.00180 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:26:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:26:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:26:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:26:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.199s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 20:26:08 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.832s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:26:08 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.030[m] 2.785[deg] [grasp_sample.py: 539] +05/13 20:26:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:26:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:26:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:26:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:28 INFO: [Worker 0] Object is not in grasp! 0.00187 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:26:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:26:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:26:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 123 non-colliding grasps [grasp_sample.py: 465] +05/13 20:26:29 INFO: [Worker 0] Feasibility-checked 123 grasps in 0.613s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:26:29 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.051[m] 2.134[deg] [grasp_sample.py: 539] +05/13 20:26:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:26:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:26:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:50 INFO: [Worker 0] Object is not in grasp! 0.00157 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:26:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:26:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:26:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:26:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.170s, found 111 non-colliding grasps [grasp_sample.py: 465] +05/13 20:26:51 INFO: [Worker 0] Feasibility-checked 111 grasps in 0.739s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:26:51 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.033[m] 2.185[deg] [grasp_sample.py: 539] +05/13 20:26:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:26:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:26:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:26:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:26:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:26:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:26:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:26:57 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.801s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:26:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.102[m] 9.436[deg] [grasp_sample.py: 539] +05/13 20:26:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:26:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:26:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:27:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:27:06 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:07 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:27:07 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=2.39s: + episode_total: mean=67.60s, total=270.38s, count=4, min=4344.5ms, max=131907.7ms + sensor_polling: mean=425.3ms, total=211.78s, count=498, min=378.5ms, max=901.6ms + physics_step: mean=25.5ms, total=12.68s, count=498, min=21.1ms, max=107.5ms + task_sampling: mean=597.7ms, total=2.39s, count=4, min=439.0ms, max=853.0ms + task_specific_sample: mean=593.7ms, total=2.37s, count=4, min=435.5ms, max=848.2ms + scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.2ms, max=1.9ms + mj_forward_sync: mean=439.1us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=18.1us, 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] +05/13 20:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:27:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:27:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:27:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:27:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:27:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:27:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136158m [env.py: 870] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:27:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54003047 -0.74319333 -0.13615829] yaw=-43.3deg [env.py: 1019] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63189933 -0.87186042 -0.13615829] yaw=-59.9deg [env.py: 1019] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14638933 -1.31787225 -0.13615829] yaw=-25.9deg [env.py: 1019] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:27:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms [env.py: 1075] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.743, -0.136) [env.py: 1079] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/13 20:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:27:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:27:10 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/13 20:27:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/13 20:27:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:27:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:27:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:27:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:27:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:27:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:27:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:27:12 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.885s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:27:12 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.098[m] 8.813[deg] [grasp_sample.py: 539] +05/13 20:27:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.775s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:27:13 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:27:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:27:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:27:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:27:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:27:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:27:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:27:15 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: 256] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172470m [env.py: 870] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50928006 -1.00133919 -0.17246978] yaw=-85.8deg [env.py: 1019] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:27:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.88150776 -0.87329957 -0.17246978] yaw=-74.0deg [env.py: 1019] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:27:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.2ms, total=233.2ms [env.py: 1075] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -1.001, -0.172) [env.py: 1079] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.8 deg [env.py: 1082] +05/13 20:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:27:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:27:15 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/13 20:27:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/13 20:27:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:27:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:27:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.147s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:27:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.648[m] 92.958[deg] [grasp_sample.py: 539] +05/13 20:27:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:27:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:27:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:27:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:27:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:27:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:27:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:27:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:27:27 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:27:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.098[m] 8.811[deg] [grasp_sample.py: 539] +05/13 20:27:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:27:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:27:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:27:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:27:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:27:40 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:27:40 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=False episode_total=5.61s: + episode_total: mean=15.22s, total=182.60s, count=12, min=240.0ms, max=101760.1ms + sensor_polling: mean=371.3ms, total=72.03s, count=194, min=347.3ms, max=700.2ms + task_specific_sample: mean=504.9ms, total=6.06s, count=12, min=236.1ms, max=908.8ms + task_sampling: mean=561.4ms, total=5.61s, count=10, min=422.2ms, max=911.8ms + physics_step: mean=21.6ms, total=4.19s, count=194, min=14.5ms, max=96.5ms + task_sampling_failed: mean=242.4ms, total=484.9ms, count=2, min=240.0ms, max=244.9ms + scene_randomize: mean=1.4ms, total=17.4ms, count=12, min=1.1ms, max=2.2ms + mj_forward_sync: mean=446.5us, total=5.4ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=16.8us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:27:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:27:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:27:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:27:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:27:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:27:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:27:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187240m [env.py: 870] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:27:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.87624313 -0.83453559 -0.18724026] yaw=-88.3deg [env.py: 1019] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23315213 -1.04460267 -0.18724026] yaw=-44.1deg [env.py: 1019] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:27:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.4ms, total=232.5ms [env.py: 1075] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.876, -0.835, -0.187) [env.py: 1079] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.3 deg [env.py: 1082] +05/13 20:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:27:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:27:42 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/13 20:27:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/13 20:27:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:27:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:27:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:27:43 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.091s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:27:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.643[m] 103.245[deg] [grasp_sample.py: 539] +05/13 20:27:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:27:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:27:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:28:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:28:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:31 INFO: [Worker 0] Object is not in grasp! 0.00153 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:28:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:28:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:28:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:28:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 101 non-colliding grasps [grasp_sample.py: 465] +05/13 20:28:32 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.651s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:28:32 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.029[m] 2.370[deg] [grasp_sample.py: 539] +05/13 20:28:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:28:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:28:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:28:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:28:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:49 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:28:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:28:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:28:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:28:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 77 non-colliding grasps [grasp_sample.py: 465] +05/13 20:28:50 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.601s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:28:50 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.029[m] 3.549[deg] [grasp_sample.py: 539] +05/13 20:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:28:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:28:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:28:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:28:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:28:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.189s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 20:28:52 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.731s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:28:52 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.045[m] 1.707[deg] [grasp_sample.py: 539] +05/13 20:28:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:28:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:28:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:28:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:29:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:29:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:29:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:29:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 127 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:08 INFO: [Worker 0] Feasibility-checked 127 grasps in 0.542s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:29:08 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.064[m] 2.557[deg] [grasp_sample.py: 539] +05/13 20:29:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:29:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:29:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:14 INFO: [Worker 0] Object is not in grasp! 0.00193 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:29:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:29:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 87 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:15 INFO: [Worker 0] Feasibility-checked 87 grasps in 0.614s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:29:15 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 0.597[deg] [grasp_sample.py: 539] +05/13 20:29:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:29:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:29:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:29:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:29:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:31 INFO: [Worker 0] Object is not in grasp! 0.00197 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:29:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:29:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:31 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.609s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:29:31 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.031[m] 0.664[deg] [grasp_sample.py: 539] +05/13 20:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:29:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:29:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:35 INFO: [Worker 0] Object is not in grasp! 0.00113 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:29:35 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:29:35 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:29:35 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=False episode_total=1.10s: + episode_total: mean=72.05s, total=144.10s, count=2, min=3576.0ms, max=140520.0ms + sensor_polling: mean=411.5ms, total=120.97s, count=294, min=385.1ms, max=729.0ms + physics_step: mean=24.4ms, total=7.17s, count=294, min=16.4ms, max=35.6ms + task_sampling: mean=551.6ms, total=1.10s, count=2, min=514.2ms, max=589.1ms + task_specific_sample: mean=547.3ms, total=1.09s, count=2, min=508.4ms, max=586.3ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.3ms, max=2.0ms + mj_forward_sync: mean=434.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=24.7us, 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] +05/13 20:29:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:29:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:29:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:29:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:29:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:29:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195966m [env.py: 870] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:29:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03197352 -1.31605072 -0.19596645] yaw=-41.9deg [env.py: 1019] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15488559 -1.26460502 -0.19596645] yaw=-21.4deg [env.py: 1019] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.71687082 -0.67694956 -0.19596645] yaw=-75.2deg [env.py: 1019] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:29:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=433.0ms, total=433.1ms [env.py: 1075] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -1.316, -0.196) [env.py: 1079] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/13 20:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:29:38 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/13 20:29:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/13 20:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 243 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:41 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.806s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:29:41 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:29:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:29:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:29:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:29:42 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: 256] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185087m [env.py: 870] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:29:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50414786 -0.7310264 -0.1850866 ] yaw=-61.9deg [env.py: 1019] +05/13 20:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12772731 -1.2667416 -0.1850866 ] yaw=-1.1deg [env.py: 1019] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.775468 -0.76539005 -0.1850866 ] yaw=-62.2deg [env.py: 1019] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=224.1ms, total=224.2ms [env.py: 1075] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.731, -0.185) [env.py: 1079] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg [env.py: 1082] +05/13 20:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/13 20:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:29:43 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/13 20:29:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/13 20:29:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.804s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:29:46 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:29:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:29:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:29:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:29:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:29:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:29:48 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: 256] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107947m [env.py: 870] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:29:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63884054 -0.85350412 -0.10794669] yaw=-65.4deg [env.py: 1019] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45446326 -1.03046145 -0.10794669] yaw=-35.4deg [env.py: 1019] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08778276 -1.26207681 -0.10794669] yaw=-7.2deg [env.py: 1019] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:29:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.3ms, total=198.4ms [env.py: 1075] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.854, -0.108) [env.py: 1079] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/13 20:29:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:29:48 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/13 20:29:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/13 20:29:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:49 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:29:49 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=False episode_total=0.50s: + episode_total: mean=127.57s, total=127.57s, count=1, min=127566.5ms, max=127566.5ms + sensor_polling: mean=379.2ms, total=113.76s, count=300, min=346.5ms, max=770.2ms + physics_step: mean=23.9ms, total=7.18s, count=300, min=17.0ms, max=71.6ms + task_sampling: mean=504.8ms, total=504.8ms, count=1, min=504.8ms, max=504.8ms + task_specific_sample: mean=502.1ms, total=502.1ms, count=1, min=502.1ms, max=502.1ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=423.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:29:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:29:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:29:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:29:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:29:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:29:51 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: 256] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179621m [env.py: 870] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:29:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24488584 -1.00571343 -0.17962055] yaw=-70.8deg [env.py: 1019] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.78076654 -0.87541664 -0.17962055] yaw=-93.3deg [env.py: 1019] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:29:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.1ms [env.py: 1075] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.006, -0.180) [env.py: 1079] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/13 20:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:29:51 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/13 20:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/13 20:29:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:29:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:29:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:29:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.816s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:29:54 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.765[m] 97.153[deg] [grasp_sample.py: 539] +05/13 20:29:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:29:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:29:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:29:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/13 20:29:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.886s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:29:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.703[m] 104.685[deg] [grasp_sample.py: 539] +05/13 20:29:56 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:29:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:29:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:29:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:29:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:29:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:29:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:29:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104928m [env.py: 870] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:29:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:29:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.9ms, total=217.9ms [env.py: 1105] +05/13 20:29:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:29:58 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:30:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:30:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:30:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:30:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:30:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:30:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:30:00 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: 256] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116178m [env.py: 870] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:30:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=310.5ms, total=310.5ms [env.py: 1105] +05/13 20:30:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/13 20:30:00 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/13 20:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:30:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:30:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:30:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:30:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190118m [env.py: 870] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80175518 -0.83571453 -0.19011787] yaw=-90.9deg [env.py: 1019] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4246061 -1.09192915 -0.19011787] yaw=-76.9deg [env.py: 1019] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=259.2ms, total=259.3ms [env.py: 1075] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.802, -0.836, -0.190) [env.py: 1079] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.9 deg [env.py: 1082] +05/13 20:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:30:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:30:04 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/13 20:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.198s [base_object_manipulation_planner_policy.py: 377] +05/13 20:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:30:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:30:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:30:05 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.174s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:30:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.648[m] 97.396[deg] [grasp_sample.py: 539] +05/13 20:30:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:30:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:30:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:30:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:30:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:31:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:31:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:31:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:31:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:31:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 154 non-colliding grasps [grasp_sample.py: 465] +05/13 20:31:05 INFO: [Worker 0] Feasibility-checked 154 grasps in 2.677s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:31:05 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:31:06 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:31:06 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:31:06 INFO: [Worker 0] Worker 0 completed house 1: 6/22 successful episodes [pipeline.py: 1323] +05/13 20:31:06 INFO: [Worker 0] [PROFILE] House 1 complete: 6/22 successful, 22 episodes, total_time=6512.68s + House averages: + episode_total: mean=52.49s, total=3779.00s, count=72, min=217.7ms, max=179654.7ms + sensor_polling: mean=402.0ms, total=2403.85s, count=5979, min=342.2ms, max=866.5ms + physics_step: mean=24.8ms, total=148.51s, count=5979, min=14.4ms, max=96.5ms + save_trajectories: mean=10.05s, total=60.28s, count=6, min=9616.9ms, max=10370.4ms + task_sampling: mean=642.8ms, total=41.14s, count=64, min=377.1ms, max=4309.0ms + task_specific_sample: mean=548.8ms, total=39.52s, count=72, min=213.3ms, max=1100.6ms + save_batch_prep: mean=4.92s, total=29.53s, count=6, min=3925.9ms, max=6385.8ms + scene_load: mean=3.61s, total=3.61s, count=1, min=3612.5ms, max=3612.5ms + task_sampling_failed: mean=288.7ms, total=2.31s, count=8, min=217.6ms, max=454.1ms + scene_env_create: mean=2.30s, total=2.30s, count=1, min=2297.9ms, max=2297.9ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1029.4ms, max=1029.4ms + compile_mujoco: mean=683.6ms, total=683.6ms, count=1, min=683.6ms, max=683.6ms + compile_xml_load: mean=263.9ms, total=263.9ms, count=1, min=263.9ms, max=263.9ms + scene_init: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms + scene_randomize: mean=1.7ms, total=125.7ms, count=72, min=1.0ms, max=5.1ms + scene_asset_install: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms + compile_aux_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + compile_aux_policy_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + asset_install_grasps: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms + mj_forward_sync: mean=463.2us, total=33.4ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + compile_robot_add: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms + policy_setup: mean=20.5us, total=1.3ms, count=64, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/13 20:31:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/13 20:31:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=6512.68s + Worker averages: + episode_total: mean=52.49s, total=3779.00s, count=72, min=217.7ms, max=179654.7ms + sensor_polling: mean=402.0ms, total=2403.85s, count=5979, min=342.2ms, max=866.5ms + physics_step: mean=24.8ms, total=148.51s, count=5979, min=14.4ms, max=96.5ms + save_trajectories: mean=10.05s, total=60.28s, count=6, min=9616.9ms, max=10370.4ms + task_sampling: mean=642.8ms, total=41.14s, count=64, min=377.1ms, max=4309.0ms + task_specific_sample: mean=548.8ms, total=39.52s, count=72, min=213.3ms, max=1100.6ms + save_batch_prep: mean=4.92s, total=29.53s, count=6, min=3925.9ms, max=6385.8ms + scene_load: mean=3.61s, total=3.61s, count=1, min=3612.5ms, max=3612.5ms + task_sampling_failed: mean=288.7ms, total=2.31s, count=8, min=217.6ms, max=454.1ms + scene_env_create: mean=2.30s, total=2.30s, count=1, min=2297.9ms, max=2297.9ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1029.4ms, max=1029.4ms + compile_mujoco: mean=683.6ms, total=683.6ms, count=1, min=683.6ms, max=683.6ms + compile_xml_load: mean=263.9ms, total=263.9ms, count=1, min=263.9ms, max=263.9ms + scene_init: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms + scene_randomize: mean=1.7ms, total=125.7ms, count=72, min=1.0ms, max=5.1ms + scene_asset_install: mean=80.0ms, total=80.0ms, count=1, min=80.0ms, max=80.0ms + compile_aux_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + compile_aux_policy_objects: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + asset_install_grasps: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms + mj_forward_sync: mean=463.2us, total=33.4ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + compile_robot_add: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms + policy_setup: mean=20.5us, total=1.3ms, count=64, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/13 20:31:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:31:10 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/13 20:31:10 INFO: Success count: 6, Total count: 22 [pipeline.py: 1491] +05/13 20:31:10 INFO: Success rate: 27.27% [pipeline.py: 1492] +05/13 20:31:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:17 INFO: [Worker 0] Object is not in grasp! 0.00192 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:31:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:31:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:31:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.170s, found 83 non-colliding grasps [grasp_sample.py: 465] +05/13 20:31:18 INFO: [Worker 0] Feasibility-checked 83 grasps in 0.740s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:31:18 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.029[m] 3.707[deg] [grasp_sample.py: 539] +05/13 20:31:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:31:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:31:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:31:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:37 INFO: [Worker 0] Object is not in grasp! 0.00172 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:31:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:31:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:31:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 120 non-colliding grasps [grasp_sample.py: 465] +05/13 20:31:37 INFO: [Worker 0] Feasibility-checked 120 grasps in 0.551s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:31:37 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.055[m] 1.371[deg] [grasp_sample.py: 539] +05/13 20:31:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:31:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:31:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:31:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:31:58 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:31:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:31:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:31:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:31:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 91 non-colliding grasps [grasp_sample.py: 465] +05/13 20:31:59 INFO: [Worker 0] Feasibility-checked 91 grasps in 0.694s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:31:59 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.032[m] 0.688[deg] [grasp_sample.py: 539] +05/13 20:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:32:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:32:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:32:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:32:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:32:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:32:18 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/13 20:32:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/13 20:32:18 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/13 20:32:18 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=False episode_total=2.37s: + episode_total: mean=25.22s, total=151.34s, count=6, min=230.2ms, max=134813.2ms + sensor_polling: mean=401.9ms, total=120.58s, count=300, min=375.9ms, max=806.3ms + physics_step: mean=22.7ms, total=6.81s, count=300, min=16.6ms, max=34.2ms + task_specific_sample: mean=482.4ms, total=2.89s, count=6, min=224.3ms, max=734.6ms + task_sampling: mean=593.1ms, total=2.37s, count=4, min=450.0ms, max=737.5ms + task_sampling_failed: mean=274.9ms, total=549.8ms, count=2, min=230.1ms, max=319.7ms + scene_randomize: mean=1.5ms, total=8.9ms, count=6, min=1.1ms, max=2.1ms + mj_forward_sync: mean=433.3us, total=2.6ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/13 20:32:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:32:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:32:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:32:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:32:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:32:20 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: 256] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101160m [env.py: 870] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:32:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20888526 -1.32612381 -0.10115973] yaw=-42.2deg [env.py: 1019] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:32:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=388.5ms, total=388.6ms [env.py: 1075] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.209, -1.326, -0.101) [env.py: 1079] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/13 20:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:32:21 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/13 20:32:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s [base_object_manipulation_planner_policy.py: 377] +05/13 20:32:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:32:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:32:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:32:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.805s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:32:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.664[m] 87.399[deg] [grasp_sample.py: 539] +05/13 20:32:25 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:32:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:32:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:32:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:32:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:32:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:32:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197702m [env.py: 870] +05/13 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:32:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68187162 -0.86461912 -0.19770185] yaw=-101.3deg [env.py: 1019] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30288473 -0.92992166 -0.19770185] yaw=-53.1deg [env.py: 1019] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29103094 -0.9691516 -0.19770185] yaw=-67.0deg [env.py: 1019] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:32:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=280.3ms, total=280.3ms [env.py: 1075] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.682, -0.865, -0.198) [env.py: 1079] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.3 deg [env.py: 1082] +05/13 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/13 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:32:27 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/13 20:32:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/13 20:32:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:32:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:32:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 244 non-colliding grasps [grasp_sample.py: 465] +05/13 20:32:28 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.952s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:32:28 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.675[m] 96.198[deg] [grasp_sample.py: 539] +05/13 20:32:29 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:32:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:32:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:32:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:32:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:32:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:32:31 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: 256] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181090m [env.py: 870] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:32:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06862658 -1.26680653 -0.18109044] yaw=-21.9deg [env.py: 1019] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53808644 -0.88972432 -0.18109044] yaw=-36.8deg [env.py: 1019] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:32:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.8ms, total=262.9ms [env.py: 1075] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.069, -1.267, -0.181) [env.py: 1079] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.9 deg [env.py: 1082] +05/13 20:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:32:32 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/13 20:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/13 20:32:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:32:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:32:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:32:35 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.743s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:32:35 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:32:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:32:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:32:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:32:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:32:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:32:36 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: 256] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181946m [env.py: 870] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:32:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77933265 -0.6584974 -0.18194552] yaw=-74.8deg [env.py: 1019] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.0619325 -1.31913251 -0.18194552] yaw=-30.1deg [env.py: 1019] +05/13 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:32:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=682.5ms, total=682.6ms [env.py: 1075] +05/13 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.779, -0.658, -0.182) [env.py: 1079] +05/13 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.8 deg [env.py: 1082] +05/13 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/13 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:32:37 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/13 20:32:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/13 20:32:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:32:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:32:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 245 non-colliding grasps [grasp_sample.py: 465] +05/13 20:32:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.764s, found feasible grasp: False [grasp_sample.py: 500] +05/13 20:32:40 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/13 20:32:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/13 20:32:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/13 20:32:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/13 20:32:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/13 20:32:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/13 20:32:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.705) [env.py: 845] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192944m [env.py: 870] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/13 20:32:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61991087 -0.73505082 -0.19294365] yaw=-70.2deg [env.py: 1019] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25877127 -1.0851007 -0.19294365] yaw=-38.1deg [env.py: 1019] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.86486823 -0.84807494 -0.19294365] yaw=-72.6deg [env.py: 1019] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/13 20:32:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.5ms [env.py: 1075] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.620, -0.735, -0.193) [env.py: 1079] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg [env.py: 1082] +05/13 20:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/13 20:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/13 20:32:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/13 20:32:42 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/13 20:32:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/13 20:32:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:32:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:32:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 242 non-colliding grasps [grasp_sample.py: 465] +05/13 20:33:11 INFO: [Worker 0] Feasibility-checked 242 grasps in 29.330s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:33:11 INFO: [Worker 0] Feasible grasp found 198 (originally 198): w/ 0.760[m] 124.505[deg] [grasp_sample.py: 539] +05/13 20:33:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/13 20:33:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/13 20:33:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:34:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/13 20:34:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/13 20:34:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/13 20:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/13 20:34:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/13 20:34:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/13 20:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/13 20:34:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/13 20:34:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 168 non-colliding grasps [grasp_sample.py: 465] +05/13 20:34:41 INFO: [Worker 0] Feasibility-checked 168 grasps in 2.756s, found feasible grasp: True [grasp_sample.py: 500] +05/13 20:34:41 INFO: [Worker 0] Feasible grasp found 117 (originally 117): w/ 0.030[m] 11.651[deg] [grasp_sample.py: 539] +05/13 20:34:42 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/13 20:34:44 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/13 20:34:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 2 episodes [pipeline.py: 238] +05/13 20:34:44 INFO: [Worker 0] Preparing episode data: 77 timesteps [save_utils.py: 278] +05/13 20:34:47 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/13 20:34:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 20:35:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/13 20:35:04 INFO: [Worker 0] Saved 2 episodes to: /scr/ravenh/3drawers/sim_chunks/debug/chunk_004 [save_utils.py: 785] +05/13 20:35:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 19.76s (batch: 6.94s, save: 12.82s) [pipeline.py: 300] +05/13 20:35:05 INFO: [Worker 0] Worker 0 completed house 1: 6/23 successful episodes [pipeline.py: 1323] +05/13 20:35:05 INFO: [Worker 0] [PROFILE] House 1 complete: 6/23 successful, 23 episodes, total_time=7059.53s + House averages: + episode_total: mean=55.30s, total=3981.93s, count=72, min=230.2ms, max=186907.2ms + sensor_polling: mean=424.0ms, total=2735.92s, count=6452, min=359.8ms, max=926.0ms + physics_step: mean=24.9ms, total=160.60s, count=6452, min=14.2ms, max=107.5ms + save_trajectories: mean=10.24s, total=61.42s, count=6, min=9365.1ms, max=11136.5ms + task_sampling: mean=641.6ms, total=40.42s, count=63, min=418.0ms, max=3824.2ms + task_specific_sample: mean=548.6ms, total=39.50s, count=72, min=224.3ms, max=921.5ms + save_batch_prep: mean=4.88s, total=29.31s, count=6, min=3782.1ms, max=7308.8ms + scene_load: mean=3.26s, total=3.26s, count=1, min=3259.8ms, max=3259.8ms + task_sampling_failed: mean=294.2ms, total=2.65s, count=9, min=230.1ms, max=379.1ms + scene_env_create: mean=2.08s, total=2.08s, count=1, min=2076.0ms, max=2076.0ms + scene_compile: mean=986.6ms, total=986.6ms, count=1, min=986.6ms, max=986.6ms + compile_mujoco: mean=641.5ms, total=641.5ms, count=1, min=641.5ms, max=641.5ms + compile_xml_load: mean=264.0ms, total=264.0ms, count=1, min=264.0ms, max=264.0ms + scene_init: mean=133.5ms, total=133.5ms, count=1, min=133.5ms, max=133.5ms + scene_randomize: mean=1.8ms, total=130.1ms, count=72, min=1.1ms, max=5.3ms + scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms + 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 + asset_install_grasps: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + mj_forward_sync: mean=445.9us, total=32.1ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms + compile_robot_add: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + policy_setup: mean=20.5us, total=1.3ms, count=63, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/13 20:35:05 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/13 20:35:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 23 episodes, total_time=7059.53s + Worker averages: + episode_total: mean=55.30s, total=3981.93s, count=72, min=230.2ms, max=186907.2ms + sensor_polling: mean=424.0ms, total=2735.92s, count=6452, min=359.8ms, max=926.0ms + physics_step: mean=24.9ms, total=160.60s, count=6452, min=14.2ms, max=107.5ms + save_trajectories: mean=10.24s, total=61.42s, count=6, min=9365.1ms, max=11136.5ms + task_sampling: mean=641.6ms, total=40.42s, count=63, min=418.0ms, max=3824.2ms + task_specific_sample: mean=548.6ms, total=39.50s, count=72, min=224.3ms, max=921.5ms + save_batch_prep: mean=4.88s, total=29.31s, count=6, min=3782.1ms, max=7308.8ms + scene_load: mean=3.26s, total=3.26s, count=1, min=3259.8ms, max=3259.8ms + task_sampling_failed: mean=294.2ms, total=2.65s, count=9, min=230.1ms, max=379.1ms + scene_env_create: mean=2.08s, total=2.08s, count=1, min=2076.0ms, max=2076.0ms + scene_compile: mean=986.6ms, total=986.6ms, count=1, min=986.6ms, max=986.6ms + compile_mujoco: mean=641.5ms, total=641.5ms, count=1, min=641.5ms, max=641.5ms + compile_xml_load: mean=264.0ms, total=264.0ms, count=1, min=264.0ms, max=264.0ms + scene_init: mean=133.5ms, total=133.5ms, count=1, min=133.5ms, max=133.5ms + scene_randomize: mean=1.8ms, total=130.1ms, count=72, min=1.1ms, max=5.3ms + scene_asset_install: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms + 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 + asset_install_grasps: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + mj_forward_sync: mean=445.9us, total=32.1ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms + compile_robot_add: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + policy_setup: mean=20.5us, total=1.3ms, count=63, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/13 20:35:08 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/13 20:35:08 INFO: Success count: 6, Total count: 23 [pipeline.py: 1491] +05/13 20:35:08 INFO: Success rate: 26.09% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_004/trajectories_batch_1_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_004/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fee082ee951b91ac53c9492a533a90f151443260 --- /dev/null +++ b/3drawers/sim_chunks/chunk_004/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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